Diff: CAN/function_CAN.h

Revision:

227:699c3e572283

Parent:

226:82a3ca333004

Child:

230:2c3e5ecbe7e1

--- a/CAN/function_CAN.h	Wed Mar 03 10:56:25 2021 +0000
+++ b/CAN/function_CAN.h	Thu Mar 11 07:27:23 2021 +0000
@@ -9,13 +9,13 @@
 // INIT_CID
 #define INIT_CID_RX_CMD                   100
 #define INIT_CID_RX_REF_POSITION          200
-#define INIT_CID_RX_REF_VALVE_POS       300
+#define INIT_CID_RX_REF_OPENLOOP       300
 #define INIT_CID_RX_REF_PWM            400
 
 #define INIT_CID_TX_INFO              1100
-#define INIT_CID_TX_POSITION          1200
-#define INIT_CID_TX_TORQUE            1300
-#define INIT_CID_TX_PRES              1400
+#define INIT_CID_TX_POS_VEL_TORQ      1200
+#define INIT_CID_TX_PWM            1300
+#define INIT_CID_TX_CURRENT              1400
 #define INIT_CID_TX_VOUT              1500
 #define INIT_CID_TX_VALVE_POSITION    1600
 #define INIT_CID_TX_SOMETHING         1700
@@ -150,9 +150,9 @@
 // Sensor & State Transmission
 void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq);
 void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb);
-//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout);
-void CAN_TX_TORQUE(int16_t t_valve_pos);
-void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b);
+//void CAN_TX_PWM(int16_t t_valve_pos, int16_t t_vout);
+void CAN_TX_PWM(int16_t t_valve_pos);
+void CAN_TX_CURRENT(int16_t t_pres_a, int16_t t_pres_b);
 void CAN_TX_PWM(int16_t t_pwm);
 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos_1, int16_t t_valve_pos_2, int16_t t_ref_valve_pos, int16_t t_pwm);
 void CAN_TX_SOMETHING (int16_t t_a, int16_t t_b, int16_t t_c, int16_t t_d);