RaC2018
/
Robot_a_cables_v2_6_5
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed
Fork of
Robot_a_cables_v2_6
by 
RaC2018
can_parameters.h
- Committer:
- protongamer
- Date:
- 2018-03-27
- Revision:
- 3:86e21a36eecb
File content as of revision 3:86e21a36eecb:
/*
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