Gan likun
/
yezhong_main_controller_copy1
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: yezhong_main_controller_copy mbed1-dev
Diff: MODE/mode.cpp
- Revision:
- 0:d80c66cb1b3a
- Child:
- 5:2503c88a564f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODE/mode.cpp Tue Nov 10 09:09:58 2020 +0000
@@ -0,0 +1,45 @@
+#include "mode.h"
+#include "CAN.h"
+
+
+
+//
+void Zero(CANMessage * msg){
+ msg->data[0] = 0xFF;
+ msg->data[1] = 0xFF;
+ msg->data[2] = 0xFF;
+ msg->data[3] = 0xFF;
+ msg->data[4] = 0xFF;
+ msg->data[5] = 0xFF;
+ msg->data[6] = 0xFF;
+ msg->data[7] = 0xFE;
+ WriteAll();
+}
+
+
+// 进入电机模式
+void EnterMotorMode(CANMessage * msg){
+ msg->data[0] = 0xFF;
+ msg->data[1] = 0xFF;
+ msg->data[2] = 0xFF;
+ msg->data[3] = 0xFF;
+ msg->data[4] = 0xFF;
+ msg->data[5] = 0xFF;
+ msg->data[6] = 0xFF;
+ msg->data[7] = 0xFC;
+ WriteAll();
+}
+
+
+// 退出电机模式
+void ExitMotorMode(CANMessage * msg){
+ msg->data[0] = 0xFF;
+ msg->data[1] = 0xFF;
+ msg->data[2] = 0xFF;
+ msg->data[3] = 0xFF;
+ msg->data[4] = 0xFF;
+ msg->data[5] = 0xFF;
+ msg->data[6] = 0xFF;
+ msg->data[7] = 0xFD;
+ WriteAll();
+}