Sungwoo Kim
/
HydraulicControlBoard_Learning
for learning
Diff: CAN/function_CAN.cpp
- Revision:
- 60:64181f1d3e60
- Parent:
- 57:f4819de54e7a
- Child:
- 66:a8e6799dbce3
--- a/CAN/function_CAN.cpp Mon Mar 16 04:50:54 2020 +0000 +++ b/CAN/function_CAN.cpp Tue Mar 31 05:12:37 2020 +0000 @@ -1339,13 +1339,15 @@ can.write(temp_msg); } -void CAN_TX_TORQUE(int16_t t_valve_pos) { +void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) { CANMessage temp_msg; temp_msg.id = CID_TX_TORQUE; - temp_msg.len = 2; + temp_msg.len = 4; temp_msg.data[0] = (uint8_t) t_valve_pos; temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8); + temp_msg.data[2] = (uint8_t) t_vout; + temp_msg.data[3] = (uint8_t) (t_vout >> 8); can.write(temp_msg); }