Diff: CAN/CAN.cpp

Revision:

9:c082f1c52936

Parent:

3:940a9e40d327

--- a/CAN/CAN.cpp	Mon Jun 13 12:25:22 2022 +0000
+++ b/CAN/CAN.cpp	Thu Jul 07 11:38:10 2022 +0000
@@ -8,7 +8,7 @@
 CAN df_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 PF_can,   DF_can;                                                      // 主控发送的CAN消息
 
 //=================================函数=======================================//
 
@@ -31,19 +31,19 @@
 /// 7: [torque[7-0]]
 void pack_cmd(CANMessage * msg, joint_control joint){
      
-     /// limit data to be within bounds ///
+     /// limit data to be within bounds 将数据限制在一定范围内///
      float p_des = fminf(fmaxf(P_MIN, joint.p_des), P_MAX);                    
      float v_des = fminf(fmaxf(V_MIN, joint.v_des), V_MAX);
      float kp = fminf(fmaxf(KP_MIN, joint.kp), KP_MAX);
      float kd = fminf(fmaxf(KD_MIN, joint.kd), KD_MAX);
      float t_ff = fminf(fmaxf(T_MIN, joint.t_ff), T_MAX);
-     /// convert floats to unsigned ints ///
+     /// convert floats to unsigned ints 将浮点数转换为无符号整数///
      uint16_t p_int = float_to_uint(p_des, P_MIN, P_MAX, 16);            
      uint16_t v_int = float_to_uint(v_des, V_MIN, V_MAX, 12);
      uint16_t kp_int = float_to_uint(kp, KP_MIN, KP_MAX, 12);
      uint16_t kd_int = float_to_uint(kd, KD_MIN, KD_MAX, 12);
      uint16_t t_int = float_to_uint(t_ff, T_MIN, T_MAX, 12);
-     /// pack ints into the can buffer ///
+     /// pack ints into the can buffer 将整型数据打包到can缓冲区中///
      msg->data[0] = p_int>>8;                                       
      msg->data[1] = p_int&0xFF;
      msg->data[2] = v_int>>4;
@@ -84,7 +84,7 @@
 /// 3: [velocity[3-0], current[11-8]]
 /// 4: [current[7-0]]
 void unpack_reply(CANMessage msg, ankle_state * ankle){
-    /// unpack ints from can buffer ///
+    /// unpack ints from can buffer 从can缓冲区解包整数///
     uint16_t id = msg.data[0];
     uint16_t p_int = (msg.data[1]<<8)|msg.data[2];
     uint16_t v_int = (msg.data[3]<<4)|(msg.data[4]>>4);
@@ -100,7 +100,7 @@
         ankle->pf.v = v;
         ankle->pf.t = t;
         }
-    else if(id==0x03){
+    else if(id==0x02){
         ankle->df.p = p;
         ankle->df.v = v;
         ankle->df.t = t;