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2011
Diff: CAN/function_CAN.cpp
- Revision:
- 46:2694daea349b
- Parent:
- 45:35fa6884d0c6
- Child:
- 47:fdcb8bd86fd6
diff -r 35fa6884d0c6 -r 2694daea349b CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Thu Jan 16 12:05:15 2020 +0000 +++ b/CAN/function_CAN.cpp Mon Jan 20 08:05:21 2020 +0000 @@ -271,6 +271,11 @@ //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE); //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE); //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE); + } else if (msg.data[1] == 3) { + K_SPRING = (int16_t) (msg.data[2] | msg.data[3] << 8); + D_DAMPER = (int16_t) (msg.data[4] | msg.data[5] << 8); + + ROM_RESET_DATA(); } break; @@ -875,6 +880,9 @@ sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE); sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE); sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE); + } else if (t_type == 3) { + sendPgain = (int16_t) (K_SPRING); + sendIgain = (int16_t) (D_DAMPER); } CANMessage temp_msg;