Buyoun Cho / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).

Dependencies:   mbed FastPWM

Diff: setting.h

Revision:
226:82a3ca333004
Parent:
224:985dba42f261
Child:
227:699c3e572283
--- a/setting.h	Thu Feb 04 05:43:47 2021 +0000
+++ b/setting.h	Wed Mar 03 10:56:25 2021 +0000
@@ -148,8 +148,8 @@
 //extern float I_GAIN_JOINT_TORQUE_OPP;
 //extern float D_GAIN_JOINT_TORQUE_OPP;
 
-extern float VALVE_DEADZONE_PLUS;
-extern float VALVE_DEADZONE_MINUS;
+extern int16_t VALVE_DEADZONE_PLUS;
+extern int16_t VALVE_DEADZONE_MINUS;
 
 extern int16_t VELOCITY_COMP_GAIN;
 extern int16_t COMPLIANCE_GAIN;
@@ -196,7 +196,7 @@
 extern float PRES_SENSOR_A_PULSE_PER_BAR;
 extern float PRES_SENSOR_B_PULSE_PER_BAR;
 
-extern int HOMEPOS_OFFSET;
+extern int16_t HOMEPOS_OFFSET;
 extern int HOMEPOS_VALVE_OPENING;
 
 extern float FRICTION;
@@ -219,7 +219,7 @@
 extern int REF_MOVE_TIME_5k;
 extern int INIT_REF_PWM;
 extern int INIT_REF_VALVE_POS;
-extern int INIT_REF_POS;
+extern int32_t INIT_REF_POS;
 extern int INIT_REF_VEL;
 extern int INIT_REF_TORQUE;
 extern int INIT_REF_PRES_DIFF;
@@ -276,8 +276,6 @@
 extern float VALVE_CENTER_OFFSET;
 extern float VALVE_DZ_MINUS_OFFSET;
 extern float VALVE_DZ_PLUS_OFFSET;
-extern float VALVE_DEADZONE_MINUS;
-extern float VALVE_DEADZONE_PLUS;
 
 extern int TMR3_COUNT_FINDHOME;
 extern int TMR3_COUNT_FLOWRATE;
@@ -392,6 +390,7 @@
 // Current Control Variables
 extern double I_REF;
 extern double I_REF_fil;
+extern double I_REF_fil_DZ;
 extern double I_ERR;
 extern double I_ERR_INT;
 extern double I_REF_fil_old;