Shao Rui / CH_Communicatuin_Test

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Dependencies:   mbed-dev_spine

Diff: CONTROL/control.cpp

Revision:
6:aad89fd109c2
Parent:
5:6a95726e45b0
--- a/CONTROL/control.cpp	Tue Oct 08 04:35:23 2019 +0000
+++ b/CONTROL/control.cpp	Mon Dec 02 14:22:07 2019 +0000
@@ -8,19 +8,43 @@
 {
     if(c_control == 1)
         command_control();
+    
+    if(return_zero == 1)
+    {
+        if( abs(ppf) >= radmax )
+            cal_command.q_des_pf = ppf - radmax;
+        if( abs(ppf) < radmax )
+            cal_command.q_des_pf = 0;
+                  
+        cal_command.qd_des_pf = 0.0f;
+        cal_command.kp_pf     = 60.0f;
+        cal_command.kd_pf     = 10.0f;
+        cal_command.tau_pf_ff = 0.0f;
         
+        
+        if( abs(pdf) >= radmax )
+            cal_command.q_des_df = pdf - radmax;
+        if( abs(pdf) < radmax )
+            cal_command.q_des_df = 0;
+            
+        cal_command.qd_des_df = 0.0f;
+        cal_command.kp_df     = 60.0f;
+        cal_command.kd_df     = 10.0f;
+        cal_command.tau_df_ff = 0.0f;     
+    }
+         
     if(c_lock == 1)                                                             // 处于PC串口锁定模式
     {
         cal_command.q_des_pf  = SP_pf;
         cal_command.qd_des_pf = 0.0f;
-        cal_command.kp_pf     = 800.0f;
-        cal_command.kd_pf     = 100.0f;
+        cal_command.kp_pf     = 60.0f;
+        cal_command.kd_pf     = 10.0f;
         cal_command.tau_pf_ff = 0.0f;
         
         cal_command.q_des_df  = SP_df;
         cal_command.qd_des_df = 0.0f;
-        cal_command.kp_df     = 800.0f;
-        cal_command.kd_df     = 100.0f;
+        cal_command.kp_df     = 60.0f;
+        cal_command.kd_df     = 10.0f;
         cal_command.tau_df_ff = 0.0f;
     }