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2011
Diff: CAN/function_CAN.h
- Revision:
- 48:e7bcfc244d40
- Parent:
- 44:35fa6884d0c6
- Child:
- 49:3c630b5eba9f
--- 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);