Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2_copy1
2011
Diff: main.cpp
- Revision:
- 231:e00e71ca3e80
- Parent:
- 230:2c3e5ecbe7e1
- Child:
- 232:2976cf1b4252
diff -r 2c3e5ecbe7e1 -r e00e71ca3e80 main.cpp --- 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)); } }