[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).
Diff: main.cpp
- Revision:
- 42:1cf66990ccab
- Parent:
- 41:abbd4e2af68b
- Child:
- 43:b084e5f5d0d5
diff -r abbd4e2af68b -r 1cf66990ccab main.cpp --- a/main.cpp Mon Dec 23 04:05:31 2019 +0000 +++ b/main.cpp Thu Dec 26 00:19:14 2019 +0000 @@ -1677,7 +1677,7 @@ if (flag_data_request[0] == HIGH) { //position+velocity //CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen); - CAN_TX_POSITION((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/400.0f), (int16_t) torq.sen); + CAN_TX_POSITION((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) torq.sen); } if (flag_data_request[1] == HIGH) { @@ -1762,3 +1762,4 @@ +