First Last / Mbed 2 deprecated EtherCAT

EtherCAT slave based on SOES

Dependencies:   mbed

Diff: soes.cpp

Revision:
9:33673e05639f
Parent:
8:09dcef3ed467
Child:
10:4e9069e5d698
--- a/soes.cpp	Fri Dec 12 00:31:22 2014 +0000
+++ b/soes.cpp	Fri Dec 12 11:28:20 2014 +0000
@@ -68,6 +68,7 @@
 float rawFrontRight;
 float rawBackLeft;
 float rawBackRight;
+float grf;
 //volatile uint8	diginput;
 
 //Serial shoe_serial(SHOE_SERIAL_TX,SHOE_SERIAL_RX);
@@ -181,8 +182,10 @@
         bl = rawBackLeft - BackLeft_offset;
         copx = ((fl+bl)-(fr+br))*BALANCE_WIDTH;
         copy = ((fr+fl)-(br+bl))*BALANCE_HEIGHT;
+        grf = (fl+fr+br+bl)*(3.3*(1<<4)*(1./11.0));
         Rb.CoPx = copx;
         Rb.CoPy = copy;
+        Rb.grf = grf;
         Rb.FrontRight = rawFrontRight;
         Rb.FrontLeft = rawFrontLeft;
         Rb.BackRight = rawBackRight;