nhan pham an / Hobbyking_Cheetah_Compact_DRV8323_StepDir

Fork and fix for mwork

Dependencies:   mbed-dev-f303 FastPWM3 millis

CAN/CAN_com.cpp@59:568e7be5232f, 2020-06-29 (annotated)

Committer:
annhandt09
Date:
Mon Jun 29 09:36:26 2020 +0000
Revision:
59:568e7be5232f
Parent:
57:c26b0093783b 
add controller.p_des = controller.theta_mech - (controller.t_ff / controller.kp) ;  for first enable.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 42:738fa01b0346 1 #include "CAN_com.h"
bdring 52:cf8b2abf811d 2 #include "motor_config.h"
benkatz 42:738fa01b0346 3
benkatz 42:738fa01b0346 4
bdring 52:cf8b2abf811d 5 //#define P_MIN -12.5f // posiiton min in radians ...moved to motor_config.h
bdring 52:cf8b2abf811d 6 //#define P_MAX 12.5f // posiiton max in radians
benkatz 42:738fa01b0346 7 #define V_MIN -45.0f
benkatz 42:738fa01b0346 8 #define V_MAX 45.0f
benkatz 42:738fa01b0346 9 #define KP_MIN 0.0f
benkatz 42:738fa01b0346 10 #define KP_MAX 500.0f
benkatz 42:738fa01b0346 11 #define KD_MIN 0.0f
benkatz 42:738fa01b0346 12 #define KD_MAX 5.0f
benkatz 42:738fa01b0346 13 #define T_MIN -18.0f
benkatz 42:738fa01b0346 14 #define T_MAX 18.0f
benkatz 42:738fa01b0346 15
benkatz 42:738fa01b0346 16
annhandt09 57:c26b0093783b 17
annhandt09 57:c26b0093783b 18 void replySche(CANMessage *msg, float p, float v, float t){
annhandt09 57:c26b0093783b 19 /*int p_int = float_to_uint(p, P_MIN, P_MAX, 16);
annhandt09 57:c26b0093783b 20 int v_int = float_to_uint(v, V_MIN, V_MAX, 12);
annhandt09 57:c26b0093783b 21 int t_int = float_to_uint(t, -T_MAX, T_MAX, 12);
annhandt09 57:c26b0093783b 22 msg->data[0] = CAN_ID;
annhandt09 57:c26b0093783b 23 msg->data[1] = p_int>>8;
annhandt09 57:c26b0093783b 24 msg->data[2] = p_int&0xFF;
annhandt09 57:c26b0093783b 25 msg->data[3] = v_int>>4;
annhandt09 57:c26b0093783b 26 msg->data[4] = ((v_int&0xF)<<4) + (t_int>>8);
annhandt09 57:c26b0093783b 27 msg->data[5] = t_int&0xFF;*/
annhandt09 57:c26b0093783b 28 }
annhandt09 57:c26b0093783b 29
benkatz 42:738fa01b0346 30 /// CAN Reply Packet Structure ///
benkatz 42:738fa01b0346 31 /// 16 bit position, between -4*pi and 4*pi
benkatz 42:738fa01b0346 32 /// 12 bit velocity, between -30 and + 30 rad/s
benkatz 42:738fa01b0346 33 /// 12 bit current, between -40 and 40;
benkatz 42:738fa01b0346 34 /// CAN Packet is 5 8-bit words
benkatz 42:738fa01b0346 35 /// Formatted as follows. For each quantity, bit 0 is LSB
benkatz 42:738fa01b0346 36 /// 0: [position[15-8]]
benkatz 42:738fa01b0346 37 /// 1: [position[7-0]]
benkatz 42:738fa01b0346 38 /// 2: [velocity[11-4]]
benkatz 42:738fa01b0346 39 /// 3: [velocity[3-0], current[11-8]]
benkatz 42:738fa01b0346 40 /// 4: [current[7-0]]
benkatz 42:738fa01b0346 41 void pack_reply(CANMessage *msg, float p, float v, float t){
benkatz 42:738fa01b0346 42 int p_int = float_to_uint(p, P_MIN, P_MAX, 16);
benkatz 42:738fa01b0346 43 int v_int = float_to_uint(v, V_MIN, V_MAX, 12);
benkatz 42:738fa01b0346 44 int t_int = float_to_uint(t, -T_MAX, T_MAX, 12);
benkatz 42:738fa01b0346 45 msg->data[0] = CAN_ID;
benkatz 42:738fa01b0346 46 msg->data[1] = p_int>>8;
benkatz 42:738fa01b0346 47 msg->data[2] = p_int&0xFF;
benkatz 42:738fa01b0346 48 msg->data[3] = v_int>>4;
benkatz 42:738fa01b0346 49 msg->data[4] = ((v_int&0xF)<<4) + (t_int>>8);
benkatz 42:738fa01b0346 50 msg->data[5] = t_int&0xFF;
annhandt09 55:fee62d8fd8fb 51
benkatz 42:738fa01b0346 52 }
benkatz 42:738fa01b0346 53
benkatz 42:738fa01b0346 54 /// CAN Command Packet Structure ///
benkatz 42:738fa01b0346 55 /// 16 bit position command, between -4*pi and 4*pi
benkatz 42:738fa01b0346 56 /// 12 bit velocity command, between -30 and + 30 rad/s
benkatz 42:738fa01b0346 57 /// 12 bit kp, between 0 and 500 N-m/rad
benkatz 42:738fa01b0346 58 /// 12 bit kd, between 0 and 100 N-m*s/rad
benkatz 42:738fa01b0346 59 /// 12 bit feed forward torque, between -18 and 18 N-m
benkatz 42:738fa01b0346 60 /// CAN Packet is 8 8-bit words
benkatz 42:738fa01b0346 61 /// Formatted as follows. For each quantity, bit 0 is LSB
benkatz 42:738fa01b0346 62 /// 0: [position[15-8]]
benkatz 42:738fa01b0346 63 /// 1: [position[7-0]]
benkatz 42:738fa01b0346 64 /// 2: [velocity[11-4]]
benkatz 42:738fa01b0346 65 /// 3: [velocity[3-0], kp[11-8]]
benkatz 42:738fa01b0346 66 /// 4: [kp[7-0]]
benkatz 42:738fa01b0346 67 /// 5: [kd[11-4]]
benkatz 42:738fa01b0346 68 /// 6: [kd[3-0], torque[11-8]]
benkatz 42:738fa01b0346 69 /// 7: [torque[7-0]]
benkatz 42:738fa01b0346 70 void unpack_cmd(CANMessage msg, ControllerStruct * controller){
benkatz 42:738fa01b0346 71 int p_int = (msg.data[0]<<8)|msg.data[1];
benkatz 42:738fa01b0346 72 int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);
benkatz 42:738fa01b0346 73 int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4];
benkatz 42:738fa01b0346 74 int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
benkatz 42:738fa01b0346 75 int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];
benkatz 42:738fa01b0346 76
benkatz 42:738fa01b0346 77 controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
benkatz 42:738fa01b0346 78 controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
benkatz 42:738fa01b0346 79 controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
benkatz 42:738fa01b0346 80 controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
benkatz 42:738fa01b0346 81 controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
benkatz 42:738fa01b0346 82 //printf("Received ");
benkatz 42:738fa01b0346 83 //printf("%.3f %.3f %.3f %.3f %.3f %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
benkatz 42:738fa01b0346 84 //printf("\n\r");
benkatz 42:738fa01b0346 85 }
benkatz 42:738fa01b0346 86