Revision 1:d24fd64d1fcb, committed 2019-06-30

Comitter:

benkatz

Date:

Sun Jun 30 02:04:46 2019 +0000

Parent:

0:d6186b8990c5

Commit message:

updating

Changed in this revision

--- a/main.cpp	Fri May 26 19:47:57 2017 +0000
+++ b/main.cpp	Sun Jun 30 02:04:46 2019 +0000
@@ -6,7 +6,7 @@
 
 
 Serial       pc(PA_2, PA_3);
-CAN          can(PB_8, PB_9);  // CAN Rx pin name, CAN Tx pin name
+CAN          can(PB_8, PB_9, 1000000);      // CAN Rx pin name, CAN Tx pin name
 CANMessage   rxMsg;
 CANMessage   txMsg1;
 CANMessage    txMsg2;
@@ -20,17 +20,16 @@
  float theta1, theta2, dtheta1, dtheta2;
 
 /// Value Limits ///
- #define P_MIN -12.5f
+#define P_MIN -12.5f
  #define P_MAX 12.5f
- #define V_MIN -30.0f
- #define V_MAX 30.0f
+ #define V_MIN -45.0f
+ #define V_MAX 45.0f
  #define KP_MIN 0.0f
  #define KP_MAX 500.0f
  #define KD_MIN 0.0f
  #define KD_MAX 5.0f
  #define T_MIN -18.0f
  #define T_MAX 18.0f
- #define I_MAX 40.0f
  
 /// CAN Command Packet Structure ///
 /// 16 bit position command, between -4*pi and 4*pi
@@ -105,6 +104,7 @@
         dtheta2 = v;
         }
     
+    //printf("%d  %.3f   %.3f   %.3f\n\r", id, p, v, i);
     } 
     
  void onMsgReceived() {
@@ -115,9 +115,11 @@
 
 void sendCMD(){
     /// bilateral teleoperation demo ///
-    pack_cmd(&txMsg1, theta2, dtheta2, 10, .1, 0); 
-    pack_cmd(&txMsg2, theta1, dtheta1, 10, .1, 0);
-    can.write(txMsg2);
+    pack_cmd(&txMsg1, 0, 0, 0, 0, -0.1f); 
+    //pack_cmd(&txMsg2, theta1, dtheta1, 10, .1, 0);
+    //pack_cmd(&txMsg2, 0, 0, 0, 0, 1.0);
+    //pack_cmd(&txMsg1, 0, 0, 0, 0, 1.0);
+    //can.write(txMsg2);
     wait(.0003);        // Give motor 1 time to respond.
     can.write(txMsg1);
     }
@@ -198,7 +200,6 @@
 int main() {
     pc.baud(921600);
     pc.attach(&serial_isr);
-    can.frequency(1000000);                     // set bit rate to 1Mbps
     can.attach(&onMsgReceived);                 // attach 'CAN receive-complete' interrupt handler
     can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
     printf("Master\n\r");