Diff: CAN/function_CAN.cpp

Revision:

72:3436ce769b1e

Parent:

69:3995ffeaa786

Child:

73:f80dc3970c99

--- a/CAN/function_CAN.cpp	Mon May 18 01:47:33 2020 +0000
+++ b/CAN/function_CAN.cpp	Tue May 19 01:36:27 2020 +0000
@@ -271,6 +271,12 @@
                 D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] | msg.data[5] << 8))) * 0.01f);
                 
 //                ROM_RESET_DATA();     //For Real-time changing
+            } else if (msg.data[1] == 4) {
+                P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] | msg.data[3] << 8);
+                I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] | msg.data[5] << 8);
+                D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] | msg.data[7] << 8);
+                
+                ROM_RESET_DATA();
             }
 
             break;
@@ -755,7 +761,7 @@
             input[ind] = x_past[2*i] / 60.0f;
             ind = ind + 1;
         }
-        input[ind] = pos.sen / ENC_PULSE_PER_POSITION / 60.0f;
+        input[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
         ind = ind + 1;
         for(int i=0;i<numpast_f;i++){
             input[ind] = f_past[2*i] / 10000.0f + 0.5f;