1
Dependencies: mbed-dev-f303 FastPWM3
Diff: Config/user_config.h
- Revision:
- 48:1b51771c3647
- Parent:
- 37:c0f352d6e8e3
diff -r 55bdc4d5096b -r 1b51771c3647 Config/user_config.h --- 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[];