Test the set param mode
Diff: structs.h
- Revision:
- 55:6ab83cbbbca7
- Parent:
- 48:74a40481740c
diff -r 59575833d16f -r 6ab83cbbbca7 structs.h --- a/structs.h Thu Aug 08 17:39:43 2019 +0000 +++ b/structs.h Fri Mar 26 05:28:00 2021 +0000 @@ -33,7 +33,10 @@ int timeout; // Watchdog counter int mode; int ovp_flag; // Over-voltage flag - float p_des, v_des, kp, kd, t_ff; // Desired position, velocity, gians, torque + // float p_des, v_des, kp, kd, t_ff; // Desired position, velocity, gians, torque + float p_des, v_des, t_ff; // Desired position, velocity, torque + float kp_L, kp_M1, kp_M2, kp_H, kd ; // kp, kd + float range_L, range_M, range_H; // The range of error float v_ref, fw_int; // output voltage magnitude, field-weakening integral float cogging[128]; } ControllerStruct;