modified 0511
Dependencies: mbed-dev FastPWM3
CAN/CAN_com.h@59:d53a7ccaae9a, 2021-12-14 (annotated)
- Committer:
- WinnieLiu
- Date:
- Tue Dec 14 13:12:16 2021 +0000
- Revision:
- 59:d53a7ccaae9a
- Parent:
- 56:542e99ed5565
- Child:
- 60:f009e39e913e
Hobbyking_Cheetah source code; modified control law to PID position controller
Who changed what in which revision?
User | Revision | Line number | New 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 | 55:b97b90d06ffa | 30 | |
benkatz | 42:738fa01b0346 | 31 | void pack_reply(CANMessage *msg, float p, float v, float t); |
benkatz | 42:738fa01b0346 | 32 | void unpack_cmd(CANMessage msg, ControllerStruct * controller); |
benkatz | 42:738fa01b0346 | 33 | |
benkatz | 42:738fa01b0346 | 34 | |
benkatz | 42:738fa01b0346 | 35 | #endif |