Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2_copy1
2011
Diff: main.cpp
- Revision:
- 252:3ffd78cbd029
- Parent:
- 251:a08f301231f1
- Child:
- 253:c53d4c26b04a
diff -r a08f301231f1 -r 3ffd78cbd029 main.cpp --- a/main.cpp Wed Jul 06 08:08:15 2022 +0000 +++ b/main.cpp Wed Jul 20 07:50:48 2022 +0000 @@ -358,7 +358,7 @@ Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; int R_FET = 1.5f; int R_Motor = 5.4f; - Vout.ref = Vout.ref + Vout.ref/R_Motor*R_FET; + Vout.ref = Vout.ref + Vout.ref/R_Motor*R_FET*2.0f; } // Valve feedforward for SW valve @@ -392,7 +392,7 @@ Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; int R_FET = 1.5f; int R_Motor = 5.4f; - Vout.ref = Vout.ref + Vout.ref/R_Motor*R_FET; + Vout.ref = Vout.ref + Vout.ref/R_Motor*R_FET*2.0f; } // PWM duty vs. voltage output of L6205 in STM board @@ -799,7 +799,7 @@ Vout.ref = 1000.0f*(ID_index_array[ID_index]); int R_FET = 1.5f; int R_Motor = 5.4f; - Vout.ref = Vout.ref + Vout.ref/R_Motor*R_FET; + Vout.ref = Vout.ref + Vout.ref/R_Motor*R_FET*2.0f; } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { VALVE_POS_TMP = 0; data_num = 0; @@ -1394,8 +1394,13 @@ } else { //////////////////////////sw valve // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW - if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; - else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; + // L6205PD +// if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; +// else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; +// else V_out = 0.0f; + // IRSM836-45MA + if (V_out > 0 ) V_out = V_out*1.654f + 200.0f; + else if (V_out < 0) V_out = V_out*1.654f - 200.0f; else V_out = 0.0f; }