Diff: function_utilities/function_utilities.cpp

Revision:

48:889798ff9329

Parent:

46:2694daea349b

Child:

49:e7bcfc244d40

--- a/function_utilities/function_utilities.cpp	Tue Jan 21 13:39:27 2020 +0000
+++ b/function_utilities/function_utilities.cpp	Wed Jan 29 13:50:24 2020 +0000
@@ -82,8 +82,8 @@
 int16_t VALVE_LIMIT_PLUS;
 int16_t VALVE_LIMIT_MINUS;
 
-int16_t ENC_PULSE_PER_POSITION;
-int16_t TORQUE_SENSOR_PULSE_PER_TORQUE;
+float ENC_PULSE_PER_POSITION;
+float TORQUE_SENSOR_PULSE_PER_TORQUE;
 float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
 float PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
 
@@ -328,7 +328,7 @@
     int i = 0;
 
     float output = 0;
-    int vn = (int) ((float) input / 10.);
+    int vn = (int) ((float) input / 10.0f);
     int en = input % 10;
 
     float temp = 1.;
@@ -393,8 +393,8 @@
     writer.write(RID_STROKE,(int) STROKE);
     writer.write(RID_VALVE_LIMIT_MINUS,(int) VALVE_LIMIT_MINUS);
     writer.write(RID_VALVE_LIMIT_PLUS,(int) VALVE_LIMIT_PLUS);
-    writer.write(RID_ENC_PULSE_PER_POSITION,(int) ENC_PULSE_PER_POSITION);
-    writer.write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) TORQUE_SENSOR_PULSE_PER_TORQUE);
+    writer.write(RID_ENC_PULSE_PER_POSITION,(int) (ENC_PULSE_PER_POSITION*10.0f));
+    writer.write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f));
     writer.write(RID_PRES_SENSOR_A_PULSE_PER_BAR,(int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
     writer.write(RID_PRES_SENSOR_B_PULSE_PER_BAR,(int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
     writer.write(RID_FRICTION,(int) (FRICTION * 10.0f));
@@ -435,16 +435,15 @@
 void ROM_CALL_DATA(void)
 {
     BNO = flashReadInt(Rom_Sector, RID_BNO);
-    BNO = 11;
     OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
     CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
     DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR);
     DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR);
     DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR);
     SUPPLY_VOLTAGE = (float) (flashReadInt(Rom_Sector, RID_VOLATGE_SUPPLY)) *0.1f;
-    SUPPLY_VOLTAGE = 12000.0f;
+//    SUPPLY_VOLTAGE = 12000.0f;
     VALVE_VOLTAGE_LIMIT = (float) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1f;
-    VALVE_VOLTAGE_LIMIT = 12000.0f;
+//    VALVE_VOLTAGE_LIMIT = 12000.0f;
     P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION);
     I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION);
     D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION);
@@ -473,14 +472,15 @@
     STROKE = flashReadInt(Rom_Sector, RID_STROKE);
     VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS);
     VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS);
-    ENC_PULSE_PER_POSITION = flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION);
-    ENC_PULSE_PER_POSITION = (float) 1024.0f;
-    TORQUE_SENSOR_PULSE_PER_TORQUE = flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE);
-    TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 2048.0f/5000.0f;
+    ENC_PULSE_PER_POSITION = (float) (flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION)) * 0.1f;
+//    ENC_PULSE_PER_POSITION = (float) 1024.0f;
+    TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.01f;
+    //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle
+//    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);
@@ -510,7 +510,7 @@
     
     K_SPRING = flashReadInt(Rom_Sector, RID_K_SPRING);
     D_DAMPER = flashReadInt(Rom_Sector, RID_D_DAMPER);
-
+    
 }
 
 /*******************************************************************************