Updated for checksum
Diff: main.cpp
- Revision:
- 6:077e37d5c2da
- Parent:
- 5:f1703165ca7e
- Child:
- 7:2f785cb39f11
--- a/main.cpp Thu Apr 01 21:28:37 2021 +0000 +++ b/main.cpp Thu Apr 01 22:48:48 2021 +0000 @@ -190,17 +190,17 @@ void PackAll(){ //actuators on the CAN1 bus - pack_cmd(&q11_can, q1_control.a1); - pack_cmd(&q12_can, q1_control.a2); - pack_cmd(&q13_can, q1_control.a3); + pack_cmd(&q11_can, g1_control.a1); + pack_cmd(&q12_can, g1_control.a2); + pack_cmd(&q13_can, g1_control.a3); //actuators on the CAN2 bus - pack_cmd(&q21_can, q2_control.a1); - pack_cmd(&q22_can, q2_control.a2); - pack_cmd(&q23_can, q2_control.a3); + pack_cmd(&q21_can, g2_control.a1); + pack_cmd(&q22_can, g2_control.a2); + pack_cmd(&q23_can, g2_control.a3); //actuators on the CAN3 bus - pack_cmd(&q31_can, q3_control.a1); - pack_cmd(&q32_can, q3_control.a2); - pack_cmd(&q33_can, q3_control.a3); + pack_cmd(&q31_can, g3_control.a1); + pack_cmd(&q32_can, g3_control.a2); + pack_cmd(&q33_can, g3_control.a3); } void WriteAll(){ //toggle = 1; @@ -234,7 +234,7 @@ PackAll(); if(counter>100){ - pc.printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n\r", g1_state.a.p, g1_state.h.p, g1_state.k.p, g2_state.a.p, g2_state.h.p, g2_state.k.p, g3_state.a.p, g3_state.h.p, g3_state.k.p); + pc.printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n\r", g1_state.a1.p, g1_state.a2.p, g1_state.a3.p, g2_state.a1.p, g2_state.a2.p, g2_state.a3.p, g3_state.a1.p, g3_state.a2.p, g3_state.a3.p); counter = 0 ; } @@ -451,7 +451,7 @@ ((uint16_t*)(&spi_command))[i] = rx_buff[i]; //pc.printf("WORD %d RECIEVED: %d\n", i, rx_buff[i]); } - print_SPI_command(); + //print_SPI_command(); // run control, which fills in tx_buff for the next iteration /* @@ -580,9 +580,9 @@ if(estop==0){ printf("estopped!!!!\n\r"); - memset(&q1_control, 0, sizeof(q1_control)); - memset(&q2_control, 0, sizeof(q2_control)); - memset(&q3_control, 0, sizeof(q3_control)); + memset(&g1_control, 0, sizeof(g1_control)); + memset(&g2_control, 0, sizeof(g2_control)); + memset(&g3_control, 0, sizeof(g3_control)); spi_data.flags[0] = 0xdead; spi_data.flags[1] = 0xdead; spi_data.flags[2] = 0xdead; @@ -591,9 +591,9 @@ else{ led = 0; - memset(&q1_control, 0, sizeof(q1_control)); - memset(&q2_control, 0, sizeof(q2_control)); - memset(&q3_control, 0, sizeof(q3_control)); + memset(&g1_control, 0, sizeof(g1_control)); + memset(&g2_control, 0, sizeof(g2_control)); + memset(&g3_control, 0, sizeof(g3_control)); //TRANSLATE SPI TO ACTUATOR COMMANNDS //CAN1 @@ -660,7 +660,7 @@ spi_data.flags[2] = 0; spi_data.flags[0] |= softstop_joint(g1_state.a1, &g1_control.a1, A_LIM_P, A_LIM_N); spi_data.flags[0] |= (softstop_joint(g1_state.a2, &g1_control.a2, H_LIM_P, H_LIM_N))<<1; - //spi_data.flags[0] |= (softstop_joint(g1_state.k, &q1_control.k, K_LIM_P, K_LIM_N))<<2; + //spi_data.flags[0] |= (softstop_joint(g1_state.k, &g1_control.k, K_LIM_P, K_LIM_N))<<2; spi_data.flags[1] |= softstop_joint(g2_state.a1, &g2_control.a1, A_LIM_P, A_LIM_N); spi_data.flags[1] |= (softstop_joint(g2_state.a2, &g2_control.a2, H_LIM_P, H_LIM_N))<<1; //spi_data.flags[1] |= (softstop_joint(g2_state.k, &q2_control.k, K_LIM_P, K_LIM_N))<<2; @@ -774,17 +774,17 @@ q33_can.id = 0x3; //actuators on the CAN1 bus - pack_cmd(&q11_can, q1_control.a1); - pack_cmd(&q12_can, q1_control.a2); - pack_cmd(&q13_can, q1_control.a3); + pack_cmd(&q11_can, g1_control.a1); + pack_cmd(&q12_can, g1_control.a2); + pack_cmd(&q13_can, g1_control.a3); //actuators on the CAN2 bus - pack_cmd(&q21_can, q2_control.a1); - pack_cmd(&q22_can, q2_control.a2); - pack_cmd(&q23_can, q2_control.a3); + pack_cmd(&q21_can, g2_control.a1); + pack_cmd(&q22_can, g2_control.a2); + pack_cmd(&q23_can, g2_control.a3); //actuators on the CAN3 bus - pack_cmd(&q31_can, q3_control.a1); - pack_cmd(&q32_can, q3_control.a2); - pack_cmd(&q33_can, q3_control.a3); + pack_cmd(&q31_can, g3_control.a1); + pack_cmd(&q32_can, g3_control.a2); + pack_cmd(&q33_can, g3_control.a3); //WRITE THE INITIAL COMMAND WriteAll();