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version 2.5(pour le grand FEARHEAVEN) [spoil] oui [/spoil]
Dependencies: mbed
Fork of Robot_a_cables_v2_5 by
parameters.h
- Committer:
- protongamer
- Date:
- 2018-05-14
- Revision:
- 7:e87feff62bfd
- Parent:
- 6:ffffa9dfadfc
File content as of revision 7:e87feff62bfd:
/* Here is the list of the CAN Codes to sent to the motor driver There identifiers and word code These parameters can be changed Here is the default values //Identifier Codes #define INITOP 0x00 #define RPDO1_R 0x215 #define RPDO2_R 0x315 #define RPDO3_R 0x415 #define RPDO4_R 0x515 #define TPDO1_R 0x195 #define TPDO2_R 0x295 #define TPDO3_R 0x395 #define TPDO4_R 0x495 #define RPDO1_L 0x220 #define RPDO2_L 0x320 #define RPDO3_L 0x420 #define RPDO4_L 0x520 #define TPDO1_L 0x1A0 #define TPDO2_L 0x2A0 #define TPDO3_L 0x3A0 #define TPDO4_L 0x4A0 //Word codes //Driver adresses #define DRIVER11 0x01 #define DRIVER12 0x15 #define DRIVER21 0x01 #define DRIVER22 0x20 */ //Identifier Codes /* To set right value for: RPDO1 => 0x200 + ID RPDO2 => 0x300 + ID RPDO3 => 0x400 + ID RPDO4 => 0x500 + ID TPDO1 => 0x180 + ID TPDO2 => 0x280 + ID TPDO3 => 0x380 + ID TPDO4 => 0x480 + ID */ #define INITOP 0x00 #define RPDO1_R 0x215 #define RPDO2_R 0x315 #define RPDO3_R 0x415 #define RPDO4_R 0x515 #define TPDO1_R 0x195 #define TPDO2_R 0x295 #define TPDO3_R 0x395 #define TPDO4_R 0x495 #define RPDO1_L 0x220 #define RPDO2_L 0x320 #define RPDO3_L 0x420 #define RPDO4_L 0x520 #define TPDO1_L 0x1A0 #define TPDO2_L 0x2A0 #define TPDO3_L 0x3A0 #define TPDO4_L 0x4A0 //Word codes //Driver adresses #define DRIVER_R1 0x01 #define DRIVER_R2 0x15 #define DRIVER_L1 0x01 #define DRIVER_L2 0x20 //Robot setup /* Here is the configuration of the robot */ //Length from motors to cursor in millimeters(mm) when the origin is taken //Left motor to cursor #define LENGTH_L1_PO 1470 //Right motor to cursor #define LENGTH_L2_PO 1470 //Left motor to Right motor #define LENGTH_MOTOR 985