Diff: CAN/CAN.cpp

Revision:

8:95a914f962bd

Parent:

5:6a95726e45b0

--- a/CAN/CAN.cpp	Tue Dec 10 09:23:12 2019 +0000
+++ b/CAN/CAN.cpp	Tue Jan 07 09:23:24 2020 +0000
@@ -1,12 +1,12 @@
 #include "CAN.h"
-
+#include "used_leg_message.h"
 
 //定义设备
-CAN pf_can(PB_8, PB_9);                                                         // CAN Rx pin name, CAN Tx pin name
-CAN df_can(PB_12, PB_13);                                                       // CAN Rx pin name, CAN Tx pin name
+CAN ef_can(PB_8, PB_9);                                                         // CAN Rx pin name, CAN Tx pin name
+CAN wf_can(PB_12, PB_13);                                                       // CAN Rx pin name, CAN Tx pin name
 // 定义CAN消息
-CANMessage pf_rxMsg, df_rxMsg;                                                  // 主控收到的CAN消息
-CANMessage PF_can, DF_can;                                                      // 主控发送的CAN消息
+CANMessage ef_rxMsg, wf_rxMsg;                                                  // 主控收到的CAN消息
+CANMessage EF_can, WF_can;                                                      // 主控发送的CAN消息
 
 
 //=================================函数=======================================//
@@ -56,16 +56,16 @@
 
 // 多个控制器联合打包准备发送
 void PackAll(){
-    pack_cmd(&PF_can, a_control.pf); 
-    pack_cmd(&DF_can, a_control.df); 
+    pack_cmd(&EF_can, a_control.ef); 
+    pack_cmd(&WF_can, a_control.wf); 
 }
 
 
 // 写联合打包的数据
 void WriteAll(){
-    pf_can.write(PF_can);
+    ef_can.write(EF_can);
     wait(.00002);
-    df_can.write(DF_can);
+    wf_can.write(WF_can);
     wait(.00002);
 }
 
@@ -94,14 +94,14 @@
     float t = uint_to_float(i_int, -T_MAX, T_MAX, 12);
     
     if(id==0x0a){
-        ankle->pf.p = p;
-        ankle->pf.v = v;
-        ankle->pf.t = t;
+        ankle->ef.p = p;
+        ankle->ef.v = v;
+        ankle->ef.t = t;
         }
     else if(id==0x0b){
-        ankle->df.p = p;
-        ankle->df.v = v;
-        ankle->df.t = t;
+        ankle->wf.p = p;
+        ankle->wf.v = v;
+        ankle->wf.t = t;
         }
 }