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distribution-201229
Diff: CAN/function_CAN.h
- Revision:
- 7:e9086c72bb22
- Parent:
- 4:58c8081de776
- Child:
- 11:82d8768d7351
diff -r df07d3491e3a -r e9086c72bb22 CAN/function_CAN.h --- a/CAN/function_CAN.h Tue Aug 20 10:40:27 2019 +0000 +++ b/CAN/function_CAN.h Tue Aug 20 12:27:19 2019 +0000 @@ -3,6 +3,9 @@ #include "mbed.h" +extern CAN can; +extern CANMessage msg; + // CID_RX_CMD - RX CMD type #define CRX_ASK_INFO 0 #define CRX_ASK_BNO 1 @@ -72,6 +75,41 @@ #define CRX_SET_ERR_CLEAR 150 #define CRX_JUMP_STATUS 255 +// CID_TX_INFO - TX INFO type + +#define CTX_SEND_INFO 0 +#define CTX_SEND_BNO 1 +#define CTX_SEND_OPERATING_MODE 2 +#define CTX_SEND_CAN_FREQ 6 +#define CTX_SEND_CONTROL_MODE 7 +#define CTX_SEND_JOINT_ENC_DIR 9 +#define CTX_SEND_VALVE_DIR 10 +#define CTX_SEND_VALVE_ENC_DIR 11 +#define CTX_SEND_VOLTAGE_SUPPLY 12 +#define CTX_SEND_VOLTAGE_VALVE 13 +#define CTX_SEND_PID_GAIN 20 +#define CTX_SEND_VALVE_DEADZONE 21 +#define CTX_SEND_VELOCITY_COMP_GAIN 22 +#define CTX_SEND_COMPLIANCE_GAIN 23 +#define CTX_SEND_VALVE_CNETER 24 +#define CTX_SEND_VALVE_FF 25 +#define CTX_SEND_BULK_MODULUS 26 +#define CTX_SEND_CHAMBER_VOLUME 27 +#define CTX_SEND_PISTON_AREA 28 +#define CTX_SEND_PRES 29 +#define CTX_SEND_ENC_LIMIT 30 +#define CTX_SEND_STROKE 31 +#define CTX_SEND_VALVE_LIMIT 32 +#define CTX_SEND_ENC_PULSE_PER_POSITION 33 +#define CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE 34 +#define CTX_SEND_PRES_SENSOR_PULSE_PER_BAR 35 +#define CTX_SEND_FRICTION 36 +#define CTX_SEND_VALVE_GAIN_PLUS 37 +#define CTX_SEND_VALVE_GAIN_MINUS 38 +#define CTX_SEND_REFENCE_MODE 39 +#define CTX_SEND_HOMEPOS_OFFSET 40 +#define CTX_SEND_HOMEPOS_VALVE_OPENING 41 + // Information Transmission //inline void CAN_TX_INFO(void); //inline void CAN_TX_BNO(void); @@ -97,6 +135,48 @@ inline void CAN_TX_PWM(int16_t t_pwm); inline void CAN_TX_VALVE_POSITION(int16_t t_valve_pos); +// Board Information Variables +extern int BNO; +extern int CONTROL_MODE; +extern double P_GAIN_JOINT_POSITION; +extern double I_GAIN_JOINT_POSITION; +extern double D_GAIN_JOINT_POSITION; +extern double P_GAIN_JOINT_TORQUE; +extern double I_GAIN_JOINT_TORQUE; +extern double D_GAIN_JOINT_TORQUE; + +class State +{ + public: + double sen; + double ref; + double ref_old; + double ref_diff; + double err; + double err_int; + double err_old; + double err_diff; + public: + State(){ + sen = 0.0; + ref = 0.0; + ref_old = 0.0; + ref_diff = 0.0; + err = 0.0; + err_int = 0.0; + err_old = 0.0; + err_diff = 0.0; + } +}; + +extern State pos; +extern State vel; +extern State Vout; +extern State torq; +extern State pres_A; +extern State pres_B; +extern State cur; + // CAN Receive Functions void ReadCMD(); void CAN_RX_HANDLER();