Diff: parameters.h

Revision:

6:ffffa9dfadfc

Parent:

3:86e21a36eecb

Child:

7:e87feff62bfd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/parameters.h	Mon May 07 12:12:34 2018 +0000
@@ -0,0 +1,102 @@
+/*
+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 1355
+#define LENGTH_L2_PO 1355