Diff: CAN/CAN.cpp

Revision:

2:cd74a8cb03b0

Parent:

0:d80c66cb1b3a

Child:

3:940a9e40d327

--- a/CAN/CAN.cpp	Tue Nov 17 11:32:58 2020 +0000
+++ b/CAN/CAN.cpp	Thu Nov 19 07:59:28 2020 +0000
@@ -4,11 +4,11 @@
 
 
 //定义设备
-CAN knee_can(PB_8, PB_9);                                                         // CAN Rx pin name, CAN Tx pin name
-CAN ankle_can(PB_12, PB_13);                                                       // CAN Rx pin name, CAN Tx pin name
+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
 // 定义CAN消息
-CANMessage knee_rxMsg, ankle_rxMsg;                                                  // 主控收到的CAN消息
-CANMessage knee_txMsg, ankle_txMsg;                                           // 主控发送的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
 
 //=================================函数=======================================//
 
@@ -57,16 +57,16 @@
 
 // 多个控制器联合打包准备发送
 void PackAll(){
-    pack_cmd(&knee_txMsg, a_control.knee); 
-    pack_cmd(&ankle_txMsg, a_control.ankle); 
+    pack_cmd(&PF_can, a_control.pf); 
+    pack_cmd(&DF_can, a_control.df); 
 }
 
 
 // 写联合打包的数据
 void WriteAll(){
-    knee_can.write(knee_txMsg);
+    pf_can.write(PF_can);
     wait(.00002);
-    ankle_can.write(ankle_txMsg);
+    df_can.write(DF_can);
     wait(.00002);
 }
 
@@ -83,7 +83,7 @@
 /// 2: [velocity[11-4]]
 /// 3: [velocity[3-0], current[11-8]]
 /// 4: [current[7-0]]
-void unpack_reply(CANMessage msg, leg_state * state){
+void unpack_reply(CANMessage msg, ankle_state * ankle){
     /// unpack ints from can buffer ///
     uint16_t id = msg.data[0];
     uint16_t p_int = (msg.data[1]<<8)|msg.data[2];
@@ -93,16 +93,17 @@
     float p = uint_to_float(p_int, P_MIN, P_MAX, 16);
     float v = uint_to_float(v_int, V_MIN, V_MAX, 12);
     float t = uint_to_float(i_int, -T_MAX, T_MAX, 12);
+   
     
     if(id==0x01){
-        state->knee_state.p = p;
-        state->knee_state.v = v;
-        state->knee_state.t = t;
+        ankle->pf.p = p;
+        ankle->pf.v = v;
+        ankle->pf.t = t;
         }
     else if(id==0x01){
-        state->ankle_state.p = p;
-        state->ankle_state.v = v;
-        state->ankle_state.t = t;
+        ankle->df.p = p;
+        ankle->df.v = v;
+        ankle->df.t = t;
         }
 }