Diff: function_utilities/function_utilities.cpp

Revision:

17:1865016ca2e7

Parent:

16:903b5a4433b4

Child:

18:b8adf1582ea3

--- a/function_utilities/function_utilities.cpp	Mon Sep 02 13:32:33 2019 +0000
+++ b/function_utilities/function_utilities.cpp	Tue Sep 03 11:59:55 2019 +0000
@@ -21,12 +21,12 @@
 uint8_t SETTING_SWITCH_OLD = 0;
 uint8_t REFERENCE_MODE = 0;
 uint16_t CAN_FREQ = 500;
-uint8_t DIR_JOINT_ENC = 0;
-uint8_t DIR_VALVE = 0;
-uint8_t DIR_VALVE_ENC = 0;
+int16_t DIR_JOINT_ENC = 0;
+int16_t DIR_VALVE = 0;
+int16_t DIR_VALVE_ENC = 0;
 
 double SUPPLY_VOLTAGE = 12.0;
-double VALVE_VOLTAGE_LIMIT = 5.0;
+double VALVE_VOLTAGE_LIMIT = 12.0;
 
 double P_GAIN_VALVE_POSITION = 0.0;
 double I_GAIN_VALVE_POSITION= 0.0;
@@ -148,7 +148,7 @@
 int VALVE_INPUT_PWM;
 
 double VALVE_GAIN_LPM_PER_V[10];
-double VALVE_POS_VS_PWM[18];
+double VALVE_POS_VS_PWM[25];
 long JOINT_VEL[100];
 
 int VALVE_MAX_POS;
@@ -196,8 +196,8 @@
 double CUR_PRES_B_mean = 0.0;
 double CUR_TORQUE_sum = 0.0;
 double CUR_TORQUE_mean = 0.0;
-double PRES_A_NULL = 10.0;
-double PRES_B_NULL = 10.0;
+double PRES_A_NULL = 1.0;
+double PRES_B_NULL = 1.0;
 double TORQUE_NULL = 3900;
 
 double Ref_Valve_Pos_Old = 0.0;
@@ -456,7 +456,7 @@
     VALVE_GAIN_LPM_PER_V[5] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_3)) * 0.01;
     VALVE_GAIN_LPM_PER_V[7] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_4)) * 0.01;
     VALVE_GAIN_LPM_PER_V[9] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_5)) * 0.01;
-    for(int i=0; i<18; i++)
+    for(int i=0; i<25; i++)
     {
         VALVE_POS_VS_PWM[i] = (double) (flashReadInt(Rom_Sector, RID_VALVE_POS_VS_PWM_0 + i));
     }