Diff: function_utilities/function_utilities.cpp

Revision:

72:3436ce769b1e

Parent:

69:3995ffeaa786

Child:

73:f80dc3970c99

--- a/function_utilities/function_utilities.cpp	Mon May 18 01:47:33 2020 +0000
+++ b/function_utilities/function_utilities.cpp	Tue May 19 01:36:27 2020 +0000
@@ -36,11 +36,15 @@
 float I_GAIN_JOINT_POSITION = 0.0f;
 float D_GAIN_JOINT_POSITION = 0.0f;
 float P_GAIN_JOINT_TORQUE = 0.0f;
-float I_GAIN_JOINT_TORQUE = 0.0;
-float D_GAIN_JOINT_TORQUE = 0.0;
+float I_GAIN_JOINT_TORQUE = 0.0f;
+float D_GAIN_JOINT_TORQUE = 0.0f;
+float P_GAIN_JOINT_TORQUE_FF = 0.0f;
+float I_GAIN_JOINT_TORQUE_FF = 0.0f;
+float D_GAIN_JOINT_TORQUE_FF = 0.0f;
 
 int16_t K_SPRING = 0.0;
 int16_t D_DAMPER = 0.0;
+
 int16_t flag_delay_test = 0;
 
 //float P_GAIN_VALVE_POSITION_OPP = 0.0f;
@@ -326,6 +330,8 @@
 float K_LPF = 0.0f;
 float D_LPF = 0.0f;
 
+float torq_ref_past = 0.0f;
+
 //const int num_input = 6;
 //const int num_input_array = num_input*2+1;