Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2

rainbow

Dependencies:   mbed FastPWM

Diff: CAN/function_CAN.h

Revision:
49:e7bcfc244d40
Parent:
45:35fa6884d0c6
Child:
50:3c630b5eba9f
--- a/CAN/function_CAN.h	Wed Jan 29 13:50:24 2020 +0000
+++ b/CAN/function_CAN.h	Wed Feb 05 08:35:58 2020 +0000
@@ -9,7 +9,8 @@
 // INIT_CID
 #define INIT_CID_RX_CMD                   100
 #define INIT_CID_RX_REF_POSITION          200
-#define INIT_CID_RX_REF_PWM            300
+#define INIT_CID_RX_REF_VALVE_POS       300
+#define INIT_CID_RX_REF_PWM            400
 
 #define INIT_CID_TX_INFO              1100
 #define INIT_CID_TX_POSITION          1200
@@ -52,6 +53,8 @@
 #define             CRX_SET_VELOCITY_COMP_GAIN      122
 #define             CRX_ASK_COMPLIANCE_GAIN         23
 #define             CRX_SET_COMPLIANCE_GAIN         123
+#define             CRX_ASK_FLOWFORCE_GAIN          24
+#define             CRX_SET_FLOWFORCE_GAIN          124
 #define             CRX_ASK_VALVE_FF                25
 #define             CRX_SET_VALVE_FF                125
 #define             CRX_ASK_BULK_MODULUS            26
@@ -115,7 +118,7 @@
 #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_FLOWFORCE_GAIN                     24
 #define             CTX_SEND_VALVE_FF                           25
 #define             CTX_SEND_BULK_MODULUS                       26
 #define             CTX_SEND_CHAMBER_VOLUME                     27
@@ -138,6 +141,7 @@
 #define             CTX_VALVE_POS_VS_FLOWRATE                   44
 #define             CTX_VALVE_POS_NUM                           45
 #define             CTX_VALVE_MAX_MIN_POS                       46
+
 // Sensor & State Transmission
 void CAN_TX_POSITION(int16_t t_pos, int16_t t_vel, int16_t t_torq);
 void CAN_TX_TORQUE(int16_t t_torque);
@@ -160,6 +164,7 @@
 void CAN_TX_VALVE_DEADZONE(void);
 void CAN_TX_VELOCITY_COMP_GAIN(void);
 void CAN_TX_COMPLIANCE_GAIN(void);
+void CAN_TX_FLOWFORCE_GAIN(void);
 void CAN_TX_VALVE_FF(void);
 void CAN_TX_BULK_MODULUS(void);
 void CAN_TX_CHAMBER_VOLUME(void);