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Diff: CAN/function_CAN.cpp
- Revision:
- 209:ebc69d6ee6f1
- Parent:
- 192:637092202815
- Child:
- 224:985dba42f261
diff -r 408f9f15c486 -r ebc69d6ee6f1 CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Tue Dec 22 04:55:59 2020 +0000 +++ b/CAN/function_CAN.cpp Wed Dec 23 00:39:47 2020 +0000 @@ -789,7 +789,9 @@ torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N torq.ref_diff = torq.ref - torq.ref_old; + torq_dot.sen = torq.sen-totq_sen_past; torq.ref_old = torq.ref; + totq_sen_past = torq.sen; ///////////////Make Data/////////////////// for(int i=0; i<num_array_u_past-1; i++) {