Diff: CAN/function_CAN.cpp

Revision:

45:35fa6884d0c6

Parent:

43:b084e5f5d0d5

Child:

46:2694daea349b

--- a/CAN/function_CAN.cpp	Tue Jan 14 09:11:20 2020 +0000
+++ b/CAN/function_CAN.cpp	Thu Jan 16 12:05:15 2020 +0000
@@ -8,11 +8,7 @@
 // CAN ID Setting Variables
 int CID_RX_CMD = 100;
 int CID_RX_REF_POSITION = 200;
-int CID_RX_REF_TORQUE = 300;
-int CID_RX_REF_PRES_DIFF = 400;
-int CID_RX_REF_VOUT = 500;
-int CID_RX_REF_VALVE_POSITION = 600;
-int CID_RX_REF_CURRENT = 700;
+int CID_RX_REF_PWM = 300;
 
 int CID_TX_INFO = 1100;
 int CID_TX_POSITION = 1200;
@@ -32,11 +28,7 @@
 
     CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
     CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
-    CID_RX_REF_TORQUE = (int) (BNO + INIT_CID_RX_REF_TORQUE);
-    CID_RX_REF_PRES_DIFF = (int) (BNO + INIT_CID_RX_REF_PRES_DIFF);
-    CID_RX_REF_VOUT = (int) (BNO + INIT_CID_RX_REF_VOUT);
-    CID_RX_REF_VALVE_POSITION = (int) (BNO + INIT_CID_RX_REF_VALVE_POSITION);
-    CID_RX_REF_CURRENT = (int) (BNO + INIT_CID_RX_REF_CURRENT);
+    CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
 
     CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
     CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
@@ -88,9 +80,14 @@
             break;
         }
 
-        case CRX_SET_REF_UPDATE_ENABLE: {
-            flag_ref_enable = (int16_t) msg.data[1];
-
+        case CRX_SET_POS_TORQ_TRANS: {
+            MODE_POS_FT_TRANS = (int16_t) msg.data[1];
+            /*
+            MODE_POS_FT_TRANS == 0 : Position Control
+            MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
+            MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
+            MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
+            */
             break;
         }
 
@@ -724,23 +721,10 @@
         pos.ref = (double)temp_pos * 4.0f;
         vel.ref = (double)temp_vel * 100.0f;
         torq.ref = (double)temp_torq * 0.1f;
-    } else if(address==CID_RX_REF_TORQUE) {
-        int16_t temp_torq = (int16_t) (msg.data[0] | msg.data[1] << 8);
-        torq.ref = (double)temp_torq;
-    } else if(address==CID_RX_REF_PRES_DIFF) {
-        int16_t temp_presdiff = (int16_t) (msg.data[0] | msg.data[1] << 8);
-        torq.ref = (double)temp_presdiff;   
-    } else if(address==CID_RX_REF_VOUT) {
-        int16_t temp_PWM = (int16_t) (msg.data[0] | msg.data[1] << 8);
-        Vout.ref = (double)temp_PWM;
-    } else if(address==CID_RX_REF_VALVE_POSITION) {
-        int16_t temp_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
-        valve_pos.ref = (double)temp_valve_pos; 
-    } else if(address==CID_RX_REF_CURRENT) {
-        int16_t temp_cur = (int16_t) (msg.data[0] | msg.data[1] << 8);
-        cur.ref = (double)temp_cur; 
-    }
-        
+    } else if(address==CID_RX_REF_PWM) {
+        int16_t temp_vout = (int16_t) (msg.data[0] | msg.data[1] << 8);
+        Vout.ref = (double)temp_vout;
+    }   
 }
 
 /******************************************************************************