Yeseong Jeong / Mbed 2 deprecated HydraulicControlBoard_Start

20210203

Dependencies:   mbed FastPWM

Diff: CAN/function_CAN.cpp

Revision:
87:471334725012
Parent:
86:b8ed7abddeb2
Child:
91:ec77a57f947f
--- a/CAN/function_CAN.cpp	Mon Jul 13 00:43:25 2020 +0000
+++ b/CAN/function_CAN.cpp	Thu Jul 16 03:37:10 2020 +0000
@@ -754,7 +754,8 @@
         for(int i=0; i<num_array_f_past-1;i++){
             f_past[i] = f_past[i+1];
         }
-        f_past[num_array_f_past-1] = torq.sen;  //N
+        //f_past[num_array_f_past-1] = torq.sen;  //N
+        f_past[num_array_f_past-1] = torq.ref;  //N              //For add PI control
         
         f_future[0] = torq.sen;  //N
         for(int i=1;i<num_array_f_future-1;i++){