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For LIGHT
Diff: CAN/function_CAN.cpp
- Revision:
- 52:8ea76864368a
- Parent:
- 50:3c630b5eba9f
- Child:
- 53:4d66fb1c5dd9
- Child:
- 54:647072f5307a
diff -r b46bed7fec80 -r 8ea76864368a CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Wed Feb 19 00:44:07 2020 +0000 +++ b/CAN/function_CAN.cpp Wed Feb 19 05:48:57 2020 +0000 @@ -66,11 +66,11 @@ break; } case CRX_SET_OPERATING_MODE: { - OPERATING_MODE = (int16_t) msg.data[1]; - + OPERATING_MODE = (uint8_t) msg.data[1]; + SENSING_MODE = (uint8_t) msg.data[2]; + CURRENT_CONTROL_MODE = (uint8_t) msg.data[3]; + FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4]; ROM_RESET_DATA(); - - break; } case CRX_SET_ENC_ZERO: { @@ -766,9 +766,12 @@ CANMessage temp_msg; temp_msg.id = CID_TX_INFO; - temp_msg.len = 2; + temp_msg.len = 5; temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE; temp_msg.data[1] = (uint8_t) OPERATING_MODE; + temp_msg.data[2] = (uint8_t) SENSING_MODE; + temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE; + temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE; can.write(temp_msg); } @@ -1290,7 +1293,23 @@ Sensor & State Transmission Functions *******************************************************************************/ -void CAN_TX_POSITION(int16_t t_pos, int16_t t_vel, int16_t t_torq) { +void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_POSITION; + temp_msg.len = 6; + temp_msg.data[0] = (uint8_t) t_pos; + temp_msg.data[1] = (uint8_t) (t_pos >> 8); + temp_msg.data[2] = (uint8_t) t_vel; + temp_msg.data[3] = (uint8_t) (t_vel >> 8); + temp_msg.data[4] = (uint8_t) t_torq; + temp_msg.data[5] = (uint8_t) (t_torq >> 8); + + can.write(temp_msg); +} + +void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb) { + CANMessage temp_msg; temp_msg.id = CID_TX_POSITION; @@ -1299,8 +1318,10 @@ temp_msg.data[1] = (uint8_t) (t_pos >> 8); temp_msg.data[2] = (uint8_t) t_vel; temp_msg.data[3] = (uint8_t) (t_vel >> 8); - temp_msg.data[4] = (uint8_t) t_torq; - temp_msg.data[5] = (uint8_t) (t_torq >> 8); + temp_msg.data[4] = (uint8_t) t_pa; + temp_msg.data[5] = (uint8_t) (t_pa >> 8); + temp_msg.data[6] = (uint8_t) t_pb; + temp_msg.data[7] = (uint8_t) (t_pb >> 8); can.write(temp_msg); } @@ -1362,3 +1383,4 @@ +