Winnie Liu / Hobbyking_Cheetah_0511

modified 0511

Dependencies:   mbed-dev FastPWM3

CAN/CAN_com.h@65:cb3497b549e9, 22 months ago (annotated)

Committer:
WinnieLiu
Date:
Fri Aug 19 07:46:05 2022 +0000
Revision:
65:cb3497b549e9
Parent:
62:d43fcdd2d48b 
latest code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 42:738fa01b0346 1 #ifndef CAN_COM_H
benkatz 42:738fa01b0346 2 #define CAN_COM_H
benkatz 42:738fa01b0346 3
benkatz 47:e1196a851f76 4 #include "../structs.h"
benkatz 42:738fa01b0346 5 #include "user_config.h"
benkatz 42:738fa01b0346 6 #include "mbed.h"
benkatz 47:e1196a851f76 7 #include "../math_ops.h"
benkatz 42:738fa01b0346 8
WinnieLiu 55:b97b90d06ffa 9 #define P_MIN 0.0f
WinnieLiu 55:b97b90d06ffa 10 #define P_MAX 6.283185f //359.9999 deg
WinnieLiu 55:b97b90d06ffa 11 //#define P_REPLY_MIN -21360*2*PI
WinnieLiu 55:b97b90d06ffa 12 //#define P_REPLY_MAX 21360*2*PI //rad
WinnieLiu 55:b97b90d06ffa 13 #define P_REPLY_MIN -15*2*PI
WinnieLiu 55:b97b90d06ffa 14 #define P_REPLY_MAX 15*2*PI //rad
WinnieLiu 55:b97b90d06ffa 15
WinnieLiu 55:b97b90d06ffa 16 //#define P_MIN -95.5f
WinnieLiu 55:b97b90d06ffa 17 //#define P_MAX 95.5f
WinnieLiu 55:b97b90d06ffa 18
WinnieLiu 55:b97b90d06ffa 19 #define V_MIN -45.0f
WinnieLiu 55:b97b90d06ffa 20 #define V_MAX 45.0f
WinnieLiu 59:d53a7ccaae9a 21 #define KP_MIN 0.0f
WinnieLiu 59:d53a7ccaae9a 22 #define KP_MAX 500.0f
WinnieLiu 59:d53a7ccaae9a 23 #define KI_MIN 0.0f
WinnieLiu 55:b97b90d06ffa 24 #define KI_MAX 10.0f
WinnieLiu 55:b97b90d06ffa 25 #define KD_MIN 0.0f
WinnieLiu 55:b97b90d06ffa 26 #define KD_MAX 5.0f
WinnieLiu 56:542e99ed5565 27 #define T_MIN -20.0f
WinnieLiu 56:542e99ed5565 28 #define T_MAX 20.0f
WinnieLiu 55:b97b90d06ffa 29
WinnieLiu 65:cb3497b549e9 30 //void pack_reply(CANMessage *msg, float p, float v, float t, int version, int calibrate_finish, int state);
WinnieLiu 65:cb3497b549e9 31 void pack_reply(CANMessage *msg, float p, float v, float t, int version, int calibrate_finish, int state, float iq_ref);
benkatz 42:738fa01b0346 32 void unpack_cmd(CANMessage msg, ControllerStruct * controller);
benkatz 42:738fa01b0346 33
benkatz 42:738fa01b0346 34
benkatz 42:738fa01b0346 35 #endif