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Original Version of STM Board
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);