Diff: function_utilities/function_utilities.cpp

Revision:

177:8e9cf31d63f4

Parent:

174:c828479f53f9

Child:

179:d5377766d7ea

--- a/function_utilities/function_utilities.cpp	Tue Nov 24 10:16:10 2020 +0000
+++ b/function_utilities/function_utilities.cpp	Tue Nov 24 13:04:54 2020 +0000
@@ -530,7 +530,7 @@
     writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS);
     //writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f));
     writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM);
-    
+
     writer.write(RID_K_SPRING, (int) K_SPRING);
     writer.write(RID_D_DAMPER, (int) D_DAMPER);
 
@@ -619,24 +619,24 @@
     VALVE_MIN_POS = spi_eeprom_read(RID_VALVE_MIN_POS);
     //DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
     VALVE_POS_NUM = spi_eeprom_read(RID_VALVE_POS_NUM);
-    
+
     K_SPRING = spi_eeprom_read(RID_K_SPRING);
     D_DAMPER = spi_eeprom_read(RID_D_DAMPER);
-    
-    
-    
-    
-    
+
+
+
+
+
     /*
-    
+
     BNO = flashReadInt(Rom_Sector, RID_BNO);
-//    BNO = 1;
+    //    BNO = 1;
     OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
-//    OPERATING_MODE = 5;
+    //    OPERATING_MODE = 5;
     SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE);
-//    SENSING_MODE = 0;
+    //    SENSING_MODE = 0;
     CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE);
-//    CURRENT_CONTROL_MODE = 0;
+    //    CURRENT_CONTROL_MODE = 0;
     FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE);
     CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
     DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR);
@@ -674,14 +674,14 @@
     //VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS);
     //VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS);
     ENC_PULSE_PER_POSITION = (float) (flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION)) * 0.1f;
-//    ENC_PULSE_PER_POSITION = (float) 1024.0f;
+    //    ENC_PULSE_PER_POSITION = (float) 1024.0f;
     TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.0001f;
     //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle
-//    TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee
+    //    TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee
     PRES_SENSOR_A_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f;
-//    PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
+    //    PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
     PRES_SENSOR_B_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f;
-//    PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
+    //    PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
     FRICTION = (float) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1f;
     HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET);
     HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING);
@@ -708,14 +708,14 @@
     VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS);
     //DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
     VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM);
-    
+
     K_SPRING = flashReadInt(Rom_Sector, RID_K_SPRING);
     D_DAMPER = flashReadInt(Rom_Sector, RID_D_DAMPER);
-    
-//    ROM_RESET_DATA();
+
+    //    ROM_RESET_DATA();
 
     */
-    
+
 }
 
 /*******************************************************************************
@@ -757,12 +757,12 @@
 //
 //    pos.sen = (DIR_JOINT_ENC) * ENC_pos_cur + enc_offset;
 //    vel.sen = (DIR_JOINT_ENC) * ENC_VEL_KF;
-    
+
     //Low Pass Filter
-    
+
     double NEW_POSITION = (double) ((DIR_JOINT_ENC) * ENC_pos_cur + enc_offset);
     double NEW_VELOCITY = (double) ((DIR_JOINT_ENC) * ENC_pos_diff * (int) FREQ_10k);
-    
+
     double alpha_update_pos = 1.0f/(1.0f + FREQ_10k/(2.0f*3.14f*100.0f));
     pos.sen = NEW_POSITION;
     vel.sen = (1.0f - alpha_update_pos) * vel.sen + alpha_update_pos * NEW_VELOCITY; // pulse/s