RaC2018
version 2.1
Dependencies: mbed
Fork of
Robot_a_cables_v1_0
by 
RaC2018
parameters.h@6:ffffa9dfadfc, 2018-05-07 (annotated)
- Committer:
- protongamer
- Date:
- Mon May 07 12:12:34 2018 +0000
- Revision:
- 6:ffffa9dfadfc
- Parent:
- can_parameters.h@3:86e21a36eecb
v2.1
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| protongamer | 3:86e21a36eecb | 1 | /* |
| protongamer | 3:86e21a36eecb | 2 | Here is the list of the CAN Codes to sent to the motor driver |
| protongamer | 3:86e21a36eecb | 3 | There identifiers and word code |
| protongamer | 3:86e21a36eecb | 4 | These parameters can be changed |
| protongamer | 3:86e21a36eecb | 5 | |
| protongamer | 3:86e21a36eecb | 6 | Here is the default values |
| protongamer | 3:86e21a36eecb | 7 | |
| protongamer | 3:86e21a36eecb | 8 | |
| protongamer | 3:86e21a36eecb | 9 | //Identifier Codes |
| protongamer | 3:86e21a36eecb | 10 | |
| protongamer | 3:86e21a36eecb | 11 | #define INITOP 0x00 |
| protongamer | 3:86e21a36eecb | 12 | #define RPDO1_R 0x215 |
| protongamer | 3:86e21a36eecb | 13 | #define RPDO2_R 0x315 |
| protongamer | 3:86e21a36eecb | 14 | #define RPDO3_R 0x415 |
| protongamer | 3:86e21a36eecb | 15 | #define RPDO4_R 0x515 |
| protongamer | 3:86e21a36eecb | 16 | #define TPDO1_R 0x195 |
| protongamer | 3:86e21a36eecb | 17 | #define TPDO2_R 0x295 |
| protongamer | 3:86e21a36eecb | 18 | #define TPDO3_R 0x395 |
| protongamer | 3:86e21a36eecb | 19 | #define TPDO4_R 0x495 |
| protongamer | 3:86e21a36eecb | 20 | #define RPDO1_L 0x220 |
| protongamer | 3:86e21a36eecb | 21 | #define RPDO2_L 0x320 |
| protongamer | 3:86e21a36eecb | 22 | #define RPDO3_L 0x420 |
| protongamer | 3:86e21a36eecb | 23 | #define RPDO4_L 0x520 |
| protongamer | 3:86e21a36eecb | 24 | #define TPDO1_L 0x1A0 |
| protongamer | 3:86e21a36eecb | 25 | #define TPDO2_L 0x2A0 |
| protongamer | 3:86e21a36eecb | 26 | #define TPDO3_L 0x3A0 |
| protongamer | 3:86e21a36eecb | 27 | #define TPDO4_L 0x4A0 |
| protongamer | 3:86e21a36eecb | 28 | |
| protongamer | 3:86e21a36eecb | 29 | |
| protongamer | 3:86e21a36eecb | 30 | |
| protongamer | 3:86e21a36eecb | 31 | //Word codes |
| protongamer | 3:86e21a36eecb | 32 | |
| protongamer | 3:86e21a36eecb | 33 | //Driver adresses |
| protongamer | 3:86e21a36eecb | 34 | #define DRIVER11 0x01 |
| protongamer | 3:86e21a36eecb | 35 | #define DRIVER12 0x15 |
| protongamer | 3:86e21a36eecb | 36 | #define DRIVER21 0x01 |
| protongamer | 3:86e21a36eecb | 37 | #define DRIVER22 0x20 |
| protongamer | 3:86e21a36eecb | 38 | |
| protongamer | 3:86e21a36eecb | 39 | |
| protongamer | 3:86e21a36eecb | 40 | |
| protongamer | 3:86e21a36eecb | 41 | */ |
| protongamer | 3:86e21a36eecb | 42 | |
| protongamer | 3:86e21a36eecb | 43 | |
| protongamer | 3:86e21a36eecb | 44 | |
| protongamer | 3:86e21a36eecb | 45 | |
| protongamer | 3:86e21a36eecb | 46 | |
| protongamer | 3:86e21a36eecb | 47 | //Identifier Codes |
| protongamer | 3:86e21a36eecb | 48 | |
| protongamer | 3:86e21a36eecb | 49 | /* |
| protongamer | 3:86e21a36eecb | 50 | To set right value for: |
| protongamer | 3:86e21a36eecb | 51 | RPDO1 => 0x200 + ID |
| protongamer | 3:86e21a36eecb | 52 | RPDO2 => 0x300 + ID |
| protongamer | 3:86e21a36eecb | 53 | RPDO3 => 0x400 + ID |
| protongamer | 3:86e21a36eecb | 54 | RPDO4 => 0x500 + ID |
| protongamer | 3:86e21a36eecb | 55 | TPDO1 => 0x180 + ID |
| protongamer | 3:86e21a36eecb | 56 | TPDO2 => 0x280 + ID |
| protongamer | 3:86e21a36eecb | 57 | TPDO3 => 0x380 + ID |
| protongamer | 3:86e21a36eecb | 58 | TPDO4 => 0x480 + ID |
| protongamer | 3:86e21a36eecb | 59 | */ |
| protongamer | 3:86e21a36eecb | 60 | |
| protongamer | 3:86e21a36eecb | 61 | |
| protongamer | 3:86e21a36eecb | 62 | #define INITOP 0x00 |
| protongamer | 3:86e21a36eecb | 63 | #define RPDO1_R 0x215 |
| protongamer | 3:86e21a36eecb | 64 | #define RPDO2_R 0x315 |
| protongamer | 3:86e21a36eecb | 65 | #define RPDO3_R 0x415 |
| protongamer | 3:86e21a36eecb | 66 | #define RPDO4_R 0x515 |
| protongamer | 3:86e21a36eecb | 67 | #define TPDO1_R 0x195 |
| protongamer | 3:86e21a36eecb | 68 | #define TPDO2_R 0x295 |
| protongamer | 3:86e21a36eecb | 69 | #define TPDO3_R 0x395 |
| protongamer | 3:86e21a36eecb | 70 | #define TPDO4_R 0x495 |
| protongamer | 3:86e21a36eecb | 71 | #define RPDO1_L 0x220 |
| protongamer | 3:86e21a36eecb | 72 | #define RPDO2_L 0x320 |
| protongamer | 3:86e21a36eecb | 73 | #define RPDO3_L 0x420 |
| protongamer | 3:86e21a36eecb | 74 | #define RPDO4_L 0x520 |
| protongamer | 3:86e21a36eecb | 75 | #define TPDO1_L 0x1A0 |
| protongamer | 3:86e21a36eecb | 76 | #define TPDO2_L 0x2A0 |
| protongamer | 3:86e21a36eecb | 77 | #define TPDO3_L 0x3A0 |
| protongamer | 3:86e21a36eecb | 78 | #define TPDO4_L 0x4A0 |
| protongamer | 3:86e21a36eecb | 79 | |
| protongamer | 3:86e21a36eecb | 80 | |
| protongamer | 3:86e21a36eecb | 81 | |
| protongamer | 3:86e21a36eecb | 82 | //Word codes |
| protongamer | 3:86e21a36eecb | 83 | |
| protongamer | 3:86e21a36eecb | 84 | //Driver adresses |
| protongamer | 3:86e21a36eecb | 85 | #define DRIVER_R1 0x01 |
| protongamer | 3:86e21a36eecb | 86 | #define DRIVER_R2 0x15 |
| protongamer | 3:86e21a36eecb | 87 | #define DRIVER_L1 0x01 |
| protongamer | 3:86e21a36eecb | 88 | #define DRIVER_L2 0x20 |
| protongamer | 6:ffffa9dfadfc | 89 | |
| protongamer | 6:ffffa9dfadfc | 90 | |
| protongamer | 6:ffffa9dfadfc | 91 | |
| protongamer | 6:ffffa9dfadfc | 92 | |
| protongamer | 6:ffffa9dfadfc | 93 | |
| protongamer | 6:ffffa9dfadfc | 94 | //Robot setup |
| protongamer | 6:ffffa9dfadfc | 95 | /* |
| protongamer | 6:ffffa9dfadfc | 96 | Here is the configuration of the robot |
| protongamer | 6:ffffa9dfadfc | 97 | */ |
| protongamer | 6:ffffa9dfadfc | 98 | |
| protongamer | 6:ffffa9dfadfc | 99 | //Length from motors to cursor in millimeters(mm) when the origin is taken |
| protongamer | 6:ffffa9dfadfc | 100 | //Left motor to cursor |
| protongamer | 6:ffffa9dfadfc | 101 | #define LENGTH_L1_PO 1355 |
| protongamer | 6:ffffa9dfadfc | 102 | #define LENGTH_L2_PO 1355 |