Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy1

2011

Dependencies:   mbed FastPWM

Diff: CAN/function_CAN.cpp

Revision:
12:6f2531038ea4
Parent:
11:82d8768d7351
Child:
14:8e7590227d22
diff -r 82d8768d7351 -r 6f2531038ea4 CAN/function_CAN.cpp
--- a/CAN/function_CAN.cpp	Fri Aug 23 12:28:08 2019 +0000
+++ b/CAN/function_CAN.cpp	Tue Aug 27 05:32:44 2019 +0000
@@ -18,6 +18,9 @@
 int CID_TX_VOUT = 1500;
 int CID_TX_VALVE_POSITION = 1600;
 
+// variables
+uint8_t can_index = 0;
+
 
 /*******************************************************************************
  * CAN functions
@@ -39,7 +42,7 @@
     CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
 }
 
-void ReadCMD(char CMD)
+void ReadCMD(int8_t CMD)
 {
     switch(CMD){
         case CRX_ASK_INFO: {
@@ -71,7 +74,7 @@
             break;
         }
         case CRX_SET_FET_ON: {
-            LAT_MOT_EN = (int16_t) msg.data[1];;
+            //LAT_MOT_EN = (int16_t) msg.data[1];;
 
             break;
         }
@@ -102,7 +105,7 @@
 
         case CRX_SET_CONTROL_MODE: {
             CONTROL_MODE = (int16_t) (msg.data[1]);
-            if (CONTROL_MODE == MODE_FIND_HOME) {
+            if (CONTROL_MODE == 22) {    //MODE_FIND_HOME
                 FLAG_FIND_HOME = true;
             }
             break;
@@ -112,8 +115,10 @@
             int request_type = msg.data[2];
             flag_data_request[request_type] = msg.data[1];
 
-            if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
-            if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
+//            if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
+            if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
+//            if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
+            if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
 
             break;
         }
@@ -196,7 +201,7 @@
 
             break;
         }
-        ///////////////////////////////////////////////////////////////////////////////////////////////////////////
+
         case CRX_SET_HOMEPOS: {
             CONTROL_MODE = 22;
             SETTING_SWITCH = (int16_t) (msg.data[1]);
@@ -236,8 +241,6 @@
                 spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
                 spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
                 spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
-
-
             }
 
             break;
@@ -351,7 +354,10 @@
 
         case CRX_ASK_PRES: {
             CAN_TX_PRES_A_AND_B();
-            SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
+//            SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
+            dac_1 = PRES_A_VREF;
+            dac_2 = PRES_B_VREF;
+            
             break;
         }
 
@@ -535,7 +541,7 @@
 
         case CRX_SET_ERR_CLEAR: {
 
-            for (i = 0; i < num_err; i++) {
+            for (int i = 0; i < num_err; i++) {
                 flag_err[i] = FALSE;
                 flag_err_old[i] = FALSE;
             }
@@ -621,28 +627,28 @@
 *******************************************************************************/
 
 void CAN_TX_INFO(void) {
-    CANmsg.data temp_msg;
+    CANMessage temp_msg;
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 7;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_INFO;
-    temp_msg.data[1] = (unsigned char) BNO;
-    temp_msg.data[2] = (unsigned char) CAN_FREQ;
-    temp_msg.data[3] = (unsigned char) (CAN_FREQ >> 8);
-    temp_msg.data[4] = (unsigned char) (flag_err[7] << 7 | flag_err[6] << 6 | flag_err[5] << 5 | flag_err[4] << 4 | flag_err[3] << 3 | flag_err[2] << 2 | flag_err[1] << 1 | flag_err[0]);
-    temp_msg.data[5] = (unsigned char) CONTROL_MODE;
-    temp_msg.data[6] = (unsigned char) OPERATING_MODE;
+    temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
+    temp_msg.data[1] = (uint8_t) BNO;
+    temp_msg.data[2] = (uint8_t) CAN_FREQ;
+    temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
+    temp_msg.data[4] = (uint8_t) (flag_err[7] << 7 | flag_err[6] << 6 | flag_err[5] << 5 | flag_err[4] << 4 | flag_err[3] << 3 | flag_err[2] << 2 | flag_err[1] << 1 | flag_err[0]);
+    temp_msg.data[5] = (uint8_t) CONTROL_MODE;
+    temp_msg.data[6] = (uint8_t) OPERATING_MODE;
 
     can.write(temp_msg);
 }
 
 void CAN_TX_BNO(void) {
-    CANmsg.data temp_msg;
+    CANMessage temp_msg;
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 2;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_BNO;
-    temp_msg.data[1] = (unsigned char) BNO;
+    temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
+    temp_msg.data[1] = (uint8_t) BNO;
 
     can.write(temp_msg);
 }
@@ -652,8 +658,8 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 2;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_OPERATING_MODE;
-    temp_msg.data[1] = (unsigned char) OPERATING_MODE;
+    temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
+    temp_msg.data[1] = (uint8_t) OPERATING_MODE;
 
     can.write(temp_msg);
 }
@@ -675,8 +681,8 @@
 
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 2;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_CONTROL_MODE;
-    temp_msg.data[1] = (unsigned char) CONTROL_MODE;
+    temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
+    temp_msg.data[1] = (uint8_t) CONTROL_MODE;
 
     can.write(temp_msg);
 }
@@ -686,9 +692,9 @@
 
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_JOINT_ENC_DIR;
-    temp_msg.data[1] = (unsigned char) DIR_JOINT_ENC;
-    temp_msg.data[2] = (unsigned char) (DIR_JOINT_ENC >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
+    temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
+    temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
 
     can.write(temp_msg);
 }
@@ -698,9 +704,9 @@
 
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_DIR;
-    temp_msg.data[1] = (unsigned char) DIR_VALVE;
-    temp_msg.data[2] = (unsigned char) (DIR_VALVE >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
+    temp_msg.data[1] = (uint8_t) DIR_VALVE;
+    temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
 
     can.write(temp_msg);
 }
@@ -710,37 +716,37 @@
 
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_ENC_DIR;
-    temp_msg.data[1] = (unsigned char) DIR_VALVE_ENC;
-    temp_msg.data[2] = (unsigned char) (DIR_VALVE_ENC >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
+    temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
+    temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
 
     can.write(temp_msg);
 }
 
 void CAN_TX_VOLTAGE_SUPPLY(void) {
-    long send_voltage_supply = (long) (SUPPLY_VOLTAGE * 10);
+    int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10);
 
     CANMessage temp_msg;
 
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_VOLTAGE_SUPPLY;
-    temp_msg.data[1] = (unsigned char) (send_voltage_supply);
-    temp_msg.data[2] = (unsigned char) (send_voltage_supply >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
+    temp_msg.data[1] = (uint8_t) (send_voltage_supply);
+    temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
 
     can.write(temp_msg);
 }
 
 void CAN_TX_VOLTAGE_VALVE(void) {
-    long send_voltage_valve = (long) (VALVE_VOLTAGE_LIMIT * 10);
+    int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10);
 
     CANMessage temp_msg;
 
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_VOLTAGE_VALVE;
-    temp_msg.data[1] = (unsigned char) send_voltage_valve;
-    temp_msg.data[2] = (unsigned char) (send_voltage_valve >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
+    temp_msg.data[1] = (uint8_t) send_voltage_valve;
+    temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
 
     can.write(temp_msg);
 }
@@ -751,33 +757,33 @@
     // t_type = 1 : joint position control gain
     // t_type = 2 : joint torque control gain
 
-    long sendPgain=0, sendIgain=0, sendDgain=0;
+    int16_t sendPgain=0, sendIgain=0, sendDgain=0;
     if (t_type == 0) {
-//        sendPgain = (long) (P_GAIN_VALVE_POSITION);
-//        sendIgain = (long) (I_GAIN_VALVE_POSITION);
-//        sendDgain = (long) (D_GAIN_VALVE_POSITION);
+//        sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
+//        sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
+//        sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
     } else if (t_type == 1) {
-        sendPgain = (long) (P_GAIN_JOINT_POSITION);
-        sendIgain = (long) (I_GAIN_JOINT_POSITION);
-        sendDgain = (long) (D_GAIN_JOINT_POSITION);
+        sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
+        sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
+        sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
     } else if (t_type == 2) {
-        sendPgain = (long) (P_GAIN_JOINT_TORQUE);
-        sendIgain = (long) (I_GAIN_JOINT_TORQUE);
-        sendDgain = (long) (D_GAIN_JOINT_TORQUE);
+        sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
+        sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
+        sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
     }
 
     CANMessage temp_msg;
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 8;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_PID_GAIN;
-    temp_msg.data[1] = (unsigned char) t_type;
-    temp_msg.data[2] = (unsigned char) sendPgain;
-    temp_msg.data[3] = (unsigned char) (sendPgain >> 8);
-    temp_msg.data[4] = (unsigned char) sendIgain;
-    temp_msg.data[5] = (unsigned char) (sendIgain >> 8);
-    temp_msg.data[6] = (unsigned char) sendDgain;
-    temp_msg.data[7] = (unsigned char) (sendDgain >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
+    temp_msg.data[1] = (uint8_t) t_type;
+    temp_msg.data[2] = (uint8_t) sendPgain;
+    temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
+    temp_msg.data[4] = (uint8_t) sendIgain;
+    temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
+    temp_msg.data[6] = (uint8_t) sendDgain;
+    temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
 
     can.write(temp_msg);
 }
@@ -788,13 +794,13 @@
 
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 7;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_DEADZONE;
-    temp_msg.data[1] = (unsigned char) (int) (VALVE_CENTER);
-    temp_msg.data[2] = (unsigned char) ((int) (VALVE_CENTER) >> 8);
-    temp_msg.data[3] = (unsigned char) (int) (VALVE_DEADZONE_PLUS);
-    temp_msg.data[4] = (unsigned char) ((int) (VALVE_DEADZONE_PLUS) >> 8);
-    temp_msg.data[5] = (unsigned char) (int) (VALVE_DEADZONE_MINUS);
-    temp_msg.data[6] = (unsigned char) ((int) (VALVE_DEADZONE_MINUS) >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
+    temp_msg.data[1] = (uint8_t) (int) (VALVE_CENTER);
+    temp_msg.data[2] = (uint8_t) ((int) (VALVE_CENTER) >> 8);
+    temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
+    temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
+    temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
+    temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
 
     can.write(temp_msg);
 }
@@ -804,9 +810,9 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_VELOCITY_COMP_GAIN;
-    temp_msg.data[1] = (unsigned char) VELOCITY_COMP_GAIN;
-    temp_msg.data[2] = (unsigned char) (VELOCITY_COMP_GAIN >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
+    temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
+    temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
 
     can.write(temp_msg);
 }
@@ -816,9 +822,9 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_COMPLIANCE_GAIN;
-    temp_msg.data[1] = (unsigned char) COMPLIANCE_GAIN;
-    temp_msg.data[2] = (unsigned char) (COMPLIANCE_GAIN >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
+    temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
+    temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
 
     can.write(temp_msg);
 }
@@ -828,9 +834,9 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_FF;
-    temp_msg.data[1] = (unsigned char) VALVE_FF;
-    temp_msg.data[2] = (unsigned char) (VALVE_FF >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
+    temp_msg.data[1] = (uint8_t) VALVE_FF;
+    temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
 
     can.write(temp_msg);
 }
@@ -840,9 +846,9 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_BULK_MODULUS;
-    temp_msg.data[1] = (unsigned char) BULK_MODULUS;
-    temp_msg.data[2] = (unsigned char) (BULK_MODULUS >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
+    temp_msg.data[1] = (uint8_t) BULK_MODULUS;
+    temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
 
     can.write(temp_msg);
 }
@@ -852,11 +858,11 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 5;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_CHAMBER_VOLUME;
-    temp_msg.data[1] = (unsigned char) CHAMBER_VOLUME_A;
-    temp_msg.data[2] = (unsigned char) (CHAMBER_VOLUME_A >> 8);
-    temp_msg.data[3] = (unsigned char) CHAMBER_VOLUME_B;
-    temp_msg.data[4] = (unsigned char) (CHAMBER_VOLUME_B >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
+    temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
+    temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
+    temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
+    temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
 
     can.write(temp_msg);
 }
@@ -866,11 +872,11 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 5;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_PISTON_AREA;
-    temp_msg.data[1] = (unsigned char) PISTON_AREA_A;
-    temp_msg.data[2] = (unsigned char) (PISTON_AREA_A >> 8);
-    temp_msg.data[3] = (unsigned char) PISTON_AREA_B;
-    temp_msg.data[4] = (unsigned char) (PISTON_AREA_B >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
+    temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
+    temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
+    temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
+    temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
 
     can.write(temp_msg);
 }
@@ -880,11 +886,11 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 5;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_PRES;
-    temp_msg.data[1] = (unsigned char) PRES_SUPPLY;
-    temp_msg.data[2] = (unsigned char) (PRES_SUPPLY >> 8);
-    temp_msg.data[3] = (unsigned char) PRES_RETURN;
-    temp_msg.data[4] = (unsigned char) (PRES_RETURN >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
+    temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
+    temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
+    temp_msg.data[3] = (uint8_t) PRES_RETURN;
+    temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
 
     can.write(temp_msg);
 }
@@ -894,11 +900,11 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 5;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_LIMIT;
-    temp_msg.data[1] = (unsigned char) ENC_LIMIT_MINUS;
-    temp_msg.data[2] = (unsigned char) (ENC_LIMIT_MINUS >> 8);
-    temp_msg.data[3] = (unsigned char) ENC_LIMIT_PLUS;
-    temp_msg.data[4] = (unsigned char) (ENC_LIMIT_PLUS >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
+    temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
+    temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
+    temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
+    temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
 
     can.write(temp_msg);
 }
@@ -908,9 +914,9 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_STROKE;
-    temp_msg.data[1] = (unsigned char) STROKE;
-    temp_msg.data[2] = (unsigned char) (STROKE >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
+    temp_msg.data[1] = (uint8_t) STROKE;
+    temp_msg.data[2] = (uint8_t) (STROKE >> 8);
 
     can.write(temp_msg);
 }
@@ -920,11 +926,11 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 5;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_LIMIT;
-    temp_msg.data[1] = (unsigned char) VALVE_LIMIT_MINUS;
-    temp_msg.data[2] = (unsigned char) (VALVE_LIMIT_MINUS >> 8);
-    temp_msg.data[3] = (unsigned char) VALVE_LIMIT_PLUS;
-    temp_msg.data[4] = (unsigned char) (VALVE_LIMIT_PLUS >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
+    temp_msg.data[1] = (uint8_t) VALVE_LIMIT_MINUS;
+    temp_msg.data[2] = (uint8_t) (VALVE_LIMIT_MINUS >> 8);
+    temp_msg.data[3] = (uint8_t) VALVE_LIMIT_PLUS;
+    temp_msg.data[4] = (uint8_t) (VALVE_LIMIT_PLUS >> 8);
 
     can.write(temp_msg);
 }
@@ -934,9 +940,9 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_PULSE_PER_POSITION;
-    temp_msg.data[1] = (unsigned char) ENC_PULSE_PER_POSITION;
-    temp_msg.data[2] = (unsigned char) (ENC_PULSE_PER_POSITION >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
+    temp_msg.data[1] = (uint8_t) ENC_PULSE_PER_POSITION;
+    temp_msg.data[2] = (uint8_t) (ENC_PULSE_PER_POSITION >> 8);
 
     can.write(temp_msg);
 }
@@ -946,9 +952,9 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
-    temp_msg.data[1] = (unsigned char) TORQUE_SENSOR_PULSE_PER_TORQUE;
-    temp_msg.data[2] = (unsigned char) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
+    temp_msg.data[1] = (uint8_t) TORQUE_SENSOR_PULSE_PER_TORQUE;
+    temp_msg.data[2] = (uint8_t) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8);
 
     can.write(temp_msg);
 }
@@ -958,25 +964,25 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 5;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
-    temp_msg.data[1] = (unsigned char) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.);
-    temp_msg.data[2] = (unsigned char) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.) >> 8);
-    temp_msg.data[3] = (unsigned char) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.);
-    temp_msg.data[4] = (unsigned char) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.) >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
+    temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.);
+    temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.) >> 8);
+    temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.);
+    temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.) >> 8);
 
     can.write(temp_msg);
 }
 
 void CAN_TX_FRICTION(void) {
     CANMessage temp_msg;
-    long send_friction;
-    send_friction = (long) (FRICTION * 10.);
+    int16_t send_friction;
+    send_friction = (int16_t) (FRICTION * 10.);
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_FRICTION;
-    temp_msg.data[1] = (unsigned char) send_friction;
-    temp_msg.data[2] = (unsigned char) (send_friction >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
+    temp_msg.data[1] = (uint8_t) send_friction;
+    temp_msg.data[2] = (uint8_t) (send_friction >> 8);
 
     can.write(temp_msg);
 }
@@ -986,12 +992,12 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 6;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_GAIN_PLUS;
-    temp_msg.data[1] = (unsigned char) (VALVE_GAIN_LPM_PER_V[0] * 50.);
-    temp_msg.data[2] = (unsigned char) (VALVE_GAIN_LPM_PER_V[2] * 50.);
-    temp_msg.data[3] = (unsigned char) (VALVE_GAIN_LPM_PER_V[4] * 50.);
-    temp_msg.data[4] = (unsigned char) (VALVE_GAIN_LPM_PER_V[6] * 50.);
-    temp_msg.data[5] = (unsigned char) (VALVE_GAIN_LPM_PER_V[8] * 50.);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
+    temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.);
+    temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.);
+    temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.);
+    temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.);
+    temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.);
 
     can.write(temp_msg);
 }
@@ -1001,13 +1007,13 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 7;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_DDV_VALVE_DEADZONE;
-    temp_msg.data[1] = (unsigned char) VALVE_DEADZONE_MINUS;
-    temp_msg.data[2] = (unsigned char) ((int) (VALVE_DEADZONE_MINUS) >> 8);
-    temp_msg.data[3] = (unsigned char) (VALVE_DEADZONE_PLUS);
-    temp_msg.data[4] = (unsigned char) ((int) (VALVE_DEADZONE_PLUS) >> 8);
-    temp_msg.data[5] = (unsigned char) (DDV_CENTER);
-    temp_msg.data[6] = (unsigned char) ((int) (DDV_CENTER) >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
+    temp_msg.data[1] = (uint8_t) VALVE_DEADZONE_MINUS;
+    temp_msg.data[2] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
+    temp_msg.data[3] = (uint8_t) (VALVE_DEADZONE_PLUS);
+    temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
+    temp_msg.data[5] = (uint8_t) (DDV_CENTER);
+    temp_msg.data[6] = (uint8_t) ((int) (DDV_CENTER) >> 8);
 
     can.write(temp_msg);
 }
@@ -1017,12 +1023,12 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 6;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_GAIN_MINUS;
-    temp_msg.data[1] = (unsigned char) (VALVE_GAIN_LPM_PER_V[1] * 50.);
-    temp_msg.data[2] = (unsigned char) (VALVE_GAIN_LPM_PER_V[3] * 50.);
-    temp_msg.data[3] = (unsigned char) (VALVE_GAIN_LPM_PER_V[5] * 50.);
-    temp_msg.data[4] = (unsigned char) (VALVE_GAIN_LPM_PER_V[7] * 50.);
-    temp_msg.data[5] = (unsigned char) (VALVE_GAIN_LPM_PER_V[9] * 50.);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
+    temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.);
+    temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.);
+    temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.);
+    temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.);
+    temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.);
 
     can.write(temp_msg);
 }
@@ -1032,63 +1038,64 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 6;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_REFENCE_MODE;
-    temp_msg.data[1] = (unsigned char) REFERENCE_MODE;
-    temp_msg.data[2] = (unsigned char) (int) (REFERENCE_FREQ * 100.);
-    temp_msg.data[3] = (unsigned char) ((int) (REFERENCE_FREQ * 100.) >> 8);
-    temp_msg.data[4] = (unsigned char) (int) (REFERENCE_MAG * 100.);
-    temp_msg.data[5] = (unsigned char) ((int) (REFERENCE_MAG * 100.) >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
+    temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
+    temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.);
+    temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.) >> 8);
+    temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.);
+    temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.) >> 8);
 
     can.write(temp_msg);
 }
 
 void CAN_TX_HOMEPOS_OFFSET(void) {
     CANMessage temp_msg;
-    long send_homepos_offset;
-    send_homepos_offset = (long) (HOMEPOS_OFFSET);
+    int16_t send_homepos_offset;
+    send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_OFFSET;
-    temp_msg.data[1] = (unsigned char) send_homepos_offset;
-    temp_msg.data[2] = (unsigned char) (send_homepos_offset >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
+    temp_msg.data[1] = (uint8_t) send_homepos_offset;
+    temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
 
     can.write(temp_msg);
 }
 
 void CAN_TX_HOMPOS_VALVE_OPENING(void) {
     CANMessage temp_msg;
-    long send_homepos_valve_opening;
-    send_homepos_valve_opening = (long) (HOMEPOS_VALVE_OPENING);
+    int16_t send_homepos_valve_opening;
+    send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_VALVE_OPENING;
-    temp_msg.data[1] = (unsigned char) send_homepos_valve_opening;
-    temp_msg.data[2] = (unsigned char) (send_homepos_valve_opening >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
+    temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
+    temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
 
     can.write(temp_msg);
 }
 
-void CAN_TX_VALVE_PWM_VS_VALVE_POS(char canindex) {
+void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
     CANMessage temp_msg;
     int16_t valve_pos_vs_pwm;
     valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
     
-    int16_t PWM_VALVE_ID = ID_index_array[canindex] * 1000;
+    int16_t PWM_VALVE_ID;
+    PWM_VALVE_ID = ID_index_array[canindex] * 1000;
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 5;
-    temp_msg.data[0] = (unsigned char) CTX_VALVE_PWM_VS_VALVE_POS;
-    temp_msg.data[1] = (unsigned char) PWM_VALVE_ID;
-    temp_msg.data[2] = (unsigned char) (PWM_VALVE_ID >> 8);
-    temp_msg.data[3] = (unsigned char) valve_pos_vs_pwm;
-    temp_msg.data[4] = (unsigned char) (valve_pos_vs_pwm >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
+    temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
+    temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
+    temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
+    temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
 
     can.write(temp_msg);
 }
 
-void CAN_TX_VALVE_POS_VS_FLOWRATE(char canindex) {
+void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
     CANMessage temp_msg;
     int32_t valve_pos_vs_flowrate;
     valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
@@ -1097,13 +1104,13 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 7;
-    temp_msg.data[0] = (unsigned char) CTX_VALVE_POS_VS_FLOWRATE;
-    temp_msg.data[1] = (unsigned char) VALVE_POS_VALVE_ID;
-    temp_msg.data[2] = (unsigned char) (VALVE_POS_VALVE_ID >> 8);
-    temp_msg.data[3] = (unsigned char) valve_pos_vs_flowrate;
-    temp_msg.data[4] = (unsigned char) (valve_pos_vs_flowrate >> 8);
-    temp_msg.data[5] = (unsigned char) (valve_pos_vs_flowrate >> 16);
-    temp_msg.data[6] = (unsigned char) (valve_pos_vs_flowrate >> 24);
+    temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
+    temp_msg.data[1] = (uint8_t) VALVE_POS_VALVE_ID;
+    temp_msg.data[2] = (uint8_t) (VALVE_POS_VALVE_ID >> 8);
+    temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate;
+    temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8);
+    temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16);
+    temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24);
 
     can.write(temp_msg);
 }
@@ -1115,9 +1122,9 @@
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
-    temp_msg.data[0] = (unsigned char) CTX_VALVE_POS_NUM;
-    temp_msg.data[1] = (unsigned char) valve_pos_num;
-    temp_msg.data[2] = (unsigned char) (valve_pos_num >> 8);
+    temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
+    temp_msg.data[1] = (uint8_t) valve_pos_num;
+    temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
 
     can.write(temp_msg);
 }
@@ -1126,19 +1133,19 @@
  Sensor & State Transmission Functions
 *******************************************************************************/
 
-void CAN_TX_POSITION(long t_pos, long t_vel) {
+void CAN_TX_POSITION(int32_t t_pos, int32_t t_vel) {
     CANMessage temp_msg;
 
     temp_msg.id = CID_TX_POSITION;
     temp_msg.len = 8;
-    temp_msg.data[0] = (unsigned char) t_pos;
-    temp_msg.data[1] = (unsigned char) (t_pos >> 8);
-    temp_msg.data[2] = (unsigned char) (t_pos >> 16);
-    temp_msg.data[3] = (unsigned char) (t_pos >> 24);
-    temp_msg.data[4] = (unsigned char) t_vel;
-    temp_msg.data[5] = (unsigned char) (t_vel >> 8);
-    temp_msg.data[6] = (unsigned char) (t_vel >> 16);
-    temp_msg.data[7] = (unsigned char) (t_vel >> 24);
+    temp_msg.data[0] = (uint8_t) t_pos;
+    temp_msg.data[1] = (uint8_t) (t_pos >> 8);
+    temp_msg.data[2] = (uint8_t) (t_pos >> 16);
+    temp_msg.data[3] = (uint8_t) (t_pos >> 24);
+    temp_msg.data[4] = (uint8_t) t_vel;
+    temp_msg.data[5] = (uint8_t) (t_vel >> 8);
+    temp_msg.data[6] = (uint8_t) (t_vel >> 16);
+    temp_msg.data[7] = (uint8_t) (t_vel >> 24);
 
     can.write(temp_msg);
 }
@@ -1148,8 +1155,8 @@
 
     temp_msg.id = CID_TX_TORQUE;
     temp_msg.len = 2;
-    temp_msg.data[0] = (unsigned char) t_torque;
-    temp_msg.data[1] = (unsigned char) (t_torque >> 8);
+    temp_msg.data[0] = (uint8_t) t_torque;
+    temp_msg.data[1] = (uint8_t) (t_torque >> 8);
 
     can.write(temp_msg);
 }
@@ -1159,10 +1166,10 @@
 
     temp_msg.id = CID_TX_PRES;
     temp_msg.len = 8;
-    temp_msg.data[0] = (unsigned char) t_pres_a;
-    temp_msg.data[1] = (unsigned char) (t_pres_a >> 8);
-    temp_msg.data[2] = (unsigned char) t_pres_b;
-    temp_msg.data[3] = (unsigned char) (t_pres_b >> 8);
+    temp_msg.data[0] = (uint8_t) t_pres_a;
+    temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
+    temp_msg.data[2] = (uint8_t) t_pres_b;
+    temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
 
     can.write(temp_msg);
 }
@@ -1172,8 +1179,8 @@
 
     temp_msg.id = CID_TX_POSITION;
     temp_msg.len = 8;
-    temp_msg.data[0] = (unsigned char) t_pwm;
-    temp_msg.data[1] = (unsigned char) (t_pwm >> 8);
+    temp_msg.data[0] = (uint8_t) t_pwm;
+    temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
 
     can.write(temp_msg);
 }
@@ -1183,8 +1190,8 @@
 
     temp_msg.id = CID_TX_VALVE_POSITION;
     temp_msg.len = 8;
-    temp_msg.data[0] = (unsigned char) t_valve_pos;
-    temp_msg.data[1] = (unsigned char) (t_valve_pos >> 8);
+    temp_msg.data[0] = (uint8_t) t_valve_pos;
+    temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
 
     can.write(temp_msg);
 }