Diff: Config/user_config.h

Revision:

48:1b51771c3647

Parent:

37:c0f352d6e8e3

--- a/Config/user_config.h	Sat Dec 07 08:01:06 2019 +0000
+++ b/Config/user_config.h	Fri Feb 07 11:31:37 2020 +0000
@@ -10,6 +10,8 @@
 #define TORQUE_LIMIT            __float_reg[3]                                  // Torque limit (current limit = torque_limit/(kt*gear ratio))
 #define THETA_MIN               __float_reg[4]                                  // Minimum position setpoint
 #define THETA_MAX               __float_reg[5]                                  // Maximum position setpoint
+#define JOINT_E_OFFSET          __float_reg[8]                                 // Encoder joint electrical offset
+#define JOINT_M_OFFSET          __float_reg[7]                                 // Encoder joint mechanical offset
 
 
 #define PHASE_ORDER             __int_reg[0]                                    // Phase swapping during calibration
@@ -17,8 +19,7 @@
 #define CAN_MASTER              __int_reg[2]                                    // CAN bus "master" ID
 #define CAN_TIMEOUT             __int_reg[3]                                    // CAN bus timeout period
 #define ENCODER_LUT             __int_reg[5]                                    // Encoder offset LUT - 128 elements long
-
-
+#define ENCODER_JOINT            __int_reg[135]                                    // Encoder offset JOINT - 120 elements long
 
 extern float __float_reg[];
 extern int __int_reg[];