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fix abs torque value for stmds5k, fixed include filename

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Sascha Ittner
2015-02-12 12:21:23 +01:00
parent 846dfa2b9c
commit c9fa7e8197
3 changed files with 3 additions and 4 deletions
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5
src/lcec_stmds5k.c
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@@ -396,11 +396,10 @@ void lcec_stmds5k_read(struct lcec_slave *slave, long period) {
// E02 : torque motor filterd (x 0,1 Nm)
torque_raw = EC_READ_S16(&pd[hal_data->torque_mot_pdo_os]);
torque = (double)torque_raw * STMDS5K_TORQUE_DIV;
*(hal_data->torque_fb_pct) = torque * 100.0;
*(hal_data->torque_fb_pct) = fabs(torque * 100.0);
torque = torque * hal_data->torque_reference;
*(hal_data->torque_fb) = torque;
torque = fabs(torque);
*(hal_data->torque_fb_abs) = torque;
*(hal_data->torque_fb_abs) = fabs(torque);
// update raw position counter
pos_cnt = EC_READ_S32(&pd[hal_data->pos_mot_pdo_os]);