Ben Katz
SPI to quad CAN firmware
Fork of
Teleop_Controller
by 
Ben Katz
Diff: main.cpp
- Revision:
- 9:56747e76c9c1
- Parent:
- 7:f10513577d4c
--- a/main.cpp Sun Jul 15 21:55:27 2018 +0000
+++ b/main.cpp Fri Oct 04 14:21:16 2019 +0000
@@ -20,8 +20,8 @@
/// Value Limits ///
#define P_MIN -12.5f
#define P_MAX 12.5f
- #define V_MIN -45.0f
- #define V_MAX 45.0f
+ #define V_MIN -65.0f
+ #define V_MAX 65.0f
#define KP_MIN 0.0f
#define KP_MAX 500.0f
#define KD_MIN 0.0f
@@ -67,7 +67,7 @@
int spi_enabled = 0;
InterruptIn cs(PA_4);
-DigitalIn estop(PA_14);
+DigitalIn estop(PB_15);
//SPISlave spi(PA_7, PA_6, PA_5, PA_4);
@@ -542,7 +542,7 @@
int main() {
- //wait(.5);
+ wait(1);
//led = 1;
pc.baud(921600);
pc.attach(&serial_isr);