Seunghoon Shin
/
HydraulicControlBoard_Start
20210305
Diff: main.cpp
- Revision:
- 35:34ce7b0347b8
- Parent:
- 34:bb2ca2fc2a8e
- Child:
- 36:a46e63505ed8
diff -r bb2ca2fc2a8e -r 34ce7b0347b8 main.cpp --- a/main.cpp Tue Nov 19 13:13:28 2019 +0000 +++ b/main.cpp Wed Nov 20 12:55:18 2019 +0000 @@ -258,7 +258,9 @@ } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; } - + + //VELOCITY_COMP_GAIN = 20; + //CAN_TX_PRES((int16_t)(Ref_Valve_Pos_FF), (int16_t) (7)); Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + DDV_CENTER; return Ref_Valve_Pos_FF; @@ -1754,4 +1756,3 @@ -