Winnie Liu / Hobbyking_Cheetah_0511

modified 0511

Dependencies:   mbed-dev FastPWM3

Diff: CAN/CAN_com.h

Revision:
55:b97b90d06ffa
Parent:
47:e1196a851f76
Child:
56:542e99ed5565
--- a/CAN/CAN_com.h	Thu Aug 08 17:39:43 2019 +0000
+++ b/CAN/CAN_com.h	Tue May 25 11:43:53 2021 +0000
@@ -6,6 +6,28 @@
 #include "mbed.h"
 #include "../math_ops.h"
 
+#define P_MIN 0.0f
+#define P_MAX 6.283185f //359.9999 deg
+//#define P_REPLY_MIN -21360*2*PI
+//#define P_REPLY_MAX 21360*2*PI //rad
+#define P_REPLY_MIN -15*2*PI 
+#define P_REPLY_MAX 15*2*PI //rad
+
+//#define P_MIN -95.5f
+//#define P_MAX 95.5f
+
+#define V_MIN -45.0f
+#define V_MAX 45.0f
+#define KP_MIN 0.0f
+#define KP_MAX 500.0f
+#define KI_MIN 0.0f
+#define KI_MAX 10.0f
+#define KD_MIN 0.0f
+#define KD_MAX 5.0f
+#define T_MIN -40.0f
+#define T_MAX 40.0f
+
+
 void pack_reply(CANMessage *msg, float p, float v, float t);
 void unpack_cmd(CANMessage msg, ControllerStruct * controller);