Diff: main.cpp

Revision:

231:e00e71ca3e80

Parent:

230:2c3e5ecbe7e1

Child:

232:2976cf1b4252

--- a/main.cpp	Wed Apr 21 04:20:39 2021 +0000
+++ b/main.cpp	Tue Apr 27 11:31:49 2021 +0000
@@ -238,7 +238,7 @@
     make_delay();
 
     ////// bno rom
-//    spi_eeprom_write(RID_BNO, (int16_t)1);
+//    spi_eeprom_write(RID_BNO, (int16_t) 4);
 //    make_delay();
     ////////
 
@@ -1004,9 +1004,9 @@
             // Position, Velocity, and Torque (ID:1200)
             if (flag_data_request[0] == HIGH) {
                 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
-                    CAN_TX_POSITION_FT((int16_t) (pos.sen*ENC_PULSE_PER_POSITION), (int16_t) (vel.sen*ENC_PULSE_PER_POSITION*0.1f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
+                    CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*8.0f));
                 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
-                    CAN_TX_POSITION_FT((int16_t) (pos.sen*ENC_PULSE_PER_POSITION*0.25f), (int16_t) (vel.sen*ENC_PULSE_PER_POSITION*0.01f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
+                    CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*8.0f));
                 }
             }