canid.hpp

00001 #ifndef __CANID__
00002 #define __CANID__
00003 
00004 enum can_commands {
00005         /* VESCs */
00006         BLDC_SET_DUTY = 0,            // Set the duty cycle of the motor
00007         BLDC_SET_CURRENT,             // Set the motor current
00008         BLDC_SET_CURRENT_BRAKE,       // Set the braking current
00009         BLDC_SET_RPM,                 // Set the motor ERPM
00010         BLDC_SET_POS,                 // Set the motor position
00011         BLDC_FILL_RX_BUFFER,          // Copy data to the VESC recieve buffer
00012         BLDC_FILL_RX_BUFFER_LONG,     // Copy data to the VESC recieve buffer
00013         BLDC_PROCESS_RX_BUFFER,       // Process a command with data from the recieve buffer
00014         BLDC_PROCESS_SHORT_BUFFER,    // Process a command with data from the recieve buffer
00015         BLDC_STATUS,                  // The motor status (1 of 3)
00016         BLDC_STATUS2,                 // The motor status (2 of 3)
00017         BLDC_STATUS3,                 // The motor status (3 of 3)
00018 
00019         /* Mobility Controller */
00020         MOBILITY_GO = 15,                // Set the motor speed
00021 
00022         /* BMS - Battery Management System */
00023 
00024         /* Arm Controller */
00025 
00026         /* Arm Joint Controllers */
00027 
00028         /* Scientific Module */
00029         SCIENTIFIC_BOX_COMMANDS = 201,
00030         SCIENTIFIC_BOX_DATA,
00031         SCIENTIFIC_ENVIRONMENT_DATA
00032 
00033         /* Turret Pan-Tilt Controller */
00034 
00035     };
00036 
00037 #endif // __CANID__