Diff: CAN/CAN_com.cpp

Revision:

59:8fb0145aa933

Parent:

58:312f8ec71d74

--- a/CAN/CAN_com.cpp	Tue Dec 01 06:29:10 2020 +0000
+++ b/CAN/CAN_com.cpp	Fri Jan 22 12:44:34 2021 +0000
@@ -1,15 +1,10 @@
 #include "CAN_com.h"
 
 
- #define P_MIN -12.5f
  #define P_MAX 12.5f
- #define V_MIN -65.0f
- #define V_MAX 65.0f
- #define KP_MIN 0.0f
- #define KP_MAX 500.0f
- #define KD_MIN 0.0f
- #define KD_MAX 5.0f
- #define T_MIN -3.0f
+ #define V_MAX 270.0f
+ #define KP_MAX 50.0f
+ #define KD_MAX 0.5f
  #define T_MAX 3.0f
  
 
@@ -25,9 +20,11 @@
 /// 3: [velocity[3-0], current[11-8]]
 /// 4: [current[7-0]]
 void pack_reply(CANMessage *msg, float p, float v, float t){
-    int p_int = float_to_uint(p, P_MIN, P_MAX, 16);
-    int v_int = float_to_uint(v, V_MIN, V_MAX, 12);
-    int t_int = float_to_uint(t, -T_MAX, T_MAX, 12);
+    
+    int p_int = float_to_uint_symmetric<16>(p, P_MAX);
+    int v_int = float_to_uint_symmetric<12>(v, V_MAX);
+    int t_int = float_to_uint_symmetric<12>(t, T_MAX);
+    
     msg->data[0] = CAN_ID;
     msg->data[1] = p_int>>8;
     msg->data[2] = p_int&0xFF;
@@ -59,11 +56,11 @@
         int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
         int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];
         
-        controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
-        controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
-        controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
-        controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
-        controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
+        controller->p_des = uint_to_float_symmetric<16>(p_int, P_MAX);
+        controller->v_des = uint_to_float_symmetric<12>(v_int, V_MAX);
+        controller->kp    = uint_to_float_positive<12>(kp_int, KP_MAX);
+        controller->kd    = uint_to_float_positive<12>(kd_int, KD_MAX);
+        controller->t_ff  = uint_to_float_symmetric<12>(t_int, T_MAX);
     //printf("Received   ");
     //printf("%.3f  %.3f  %.3f  %.3f  %.3f   %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
     //printf("\n\r");