Diff: CAN/CAN_com.cpp

Revision:

67:96a4052a1705

Parent:

66:3947255b18c5

Child:

68:edfdbd0db876

--- a/CAN/CAN_com.cpp	Fri Jan 29 20:39:36 2021 +0000
+++ b/CAN/CAN_com.cpp	Tue Feb 09 16:30:11 2021 +0000
@@ -3,12 +3,12 @@
 
  #define P_MIN -12.5f
  #define P_MAX 12.5f
- #define V_MIN -65.0f
- #define V_MAX 65.0f
+ #define V_MIN -300.0f
+ #define V_MAX 300.0f
  #define KP_MIN 0.0f
  #define KP_MAX 500.0f
  #define KD_MIN 0.0f
- #define KD_MAX 5.0f
+ #define KD_MAX 10.0f
  #define T_MIN -72.0f
  #define T_MAX 72.0f
  
@@ -25,7 +25,7 @@
 /// 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 p_int = float_to_uint(p, -100, 100, 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);
     msg->data[0] = CAN_ID;