Diff: CAN/CAN_com.cpp

Revision:

52:91a42bd0fe2e

Parent:

51:b0a3ef66ea3d

Child:

54:b8c3cfff4841

--- a/CAN/CAN_com.cpp	Wed May 08 01:17:38 2019 +0000
+++ b/CAN/CAN_com.cpp	Wed May 08 05:36:07 2019 +0000
@@ -3,10 +3,13 @@
 
  #define P_MIN -12.5f
  #define P_MAX 12.5f
- #define V_MIN -45.0f
- #define V_MAX 45.0f
+ //#define V_MIN -45.0f
+ //#define V_MAX 45.0f
+  #define V_MIN -314.0f
+ #define V_MAX 314.0f
  #define KP_MIN 0.0f
- #define KP_MAX 500.0f
+// #define KP_MAX 500.0f
+  #define KP_MAX 0.05f
  #define KD_MIN 0.0f
  #define KD_MAX 5.0f
  #define T_MIN -18.0f
@@ -53,18 +56,18 @@
 /// 6: [kd[3-0], torque[11-8]]
 /// 7: [torque[7-0]]
 void unpack_cmd(CANMessage msg, ControllerStruct * controller){
-       int p_int = (msg.data[0]<<8)|msg.data[1];               
-       // int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);     //==========HJB delete==========
-       int Tper_int = (msg.data[2]<<4)|(msg.data[3]>>4);        
+        int p_int = (msg.data[0]<<8)|msg.data[1];               
+        int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);     //==========HJB delete==========
+      // int Tper_int = (msg.data[2]<<4)|(msg.data[3]>>4);        
         int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4];
         int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
         int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];
         
-        //controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);  //==========HJB delete==========
-        //controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
+        controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);  //==========HJB delete==========
+        controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
         //===================HJB added for inner trajectory Pmag and Tperiod input =========================//
-        controller->PmagIn = uint_to_float(p_int, 1, P_MAX, 16);  //==========Pmag span form 1 to 4PI==========
-        controller->TperiodIn = uint_to_float(Tper_int, 1, 100, 12);  //Time period span from 1 to 100s;
+        //controller->PmagIn = uint_to_float(p_int, 1, P_MAX, 16);  //==========Pmag span form 1 to 4PI==========
+        //controller->TperiodIn = uint_to_float(Tper_int, 1, 100, 12);  //Time period span from 1 to 100s;
         //===================HJB ended for inner trajectory Pmag and Tperiod input =========================//
         controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
         controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);