Ahmed HADDAD
/
EasyCAT_lib
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Revision 5:1e68e0c4fd50, committed 2022-03-11
- Comitter:
- haddad1995
- Date:
- Fri Mar 11 09:18:03 2022 +0000
- Parent:
- 4:66867fae2256
- Child:
- 6:8a0711631f0a
- Commit message:
- change
Changed in this revision
| EasyCAT.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/EasyCAT.h Mon Oct 04 15:02:35 2021 +0000
+++ b/EasyCAT.h Fri Mar 11 09:18:03 2022 +0000
@@ -68,7 +68,7 @@
//----- CUSTOM_MODE example -------
//
#define CUST_BYTE_NUM_OUT 0 // total number of bytes in output
-#define CUST_BYTE_NUM_IN 60 // total number of bytes in input
+#define CUST_BYTE_NUM_IN 24 // total number of bytes in input
// We can also customize names and data types for the PDOs
// see the example in this file (look for tag "Custom data types example")
@@ -336,22 +336,13 @@
//
struct // Here we can define our custom
{ // data types and names for the outputs
- //
- uint8_t Control; // The total number of bytes declared
- float PreZone1; // in this structure must be equal
- float CommZone1; // to the value assigned to CUST_BYTE_NUM_OUT
- float RampZone1; //
- float PreZone2; // In this case 1+ 4+4+4+ 4+4+4+ 4+4+4+ 4+4+4 = 49
- float CommZone2; //
- float RampZone2; //
- float PreZone3; //
- float CommZone3; //
- float RampZone3; //
- float PreZone4; //
- float CommZone4; //
- float RampZone4; //
+ //uint8_t EtherCAT; //
+ //double Running_Time_T ; // The total number of bytes declared
+ //uint8_t State_Step_T ; // in this structure must be equal
+ //uint8_t Status_Driver_T ; // to the value assigned to CUST_BYTE_NUM_OUT
+ //uint8_t END_T ; // In this case 1+ 4+4+4+ 4+4+4+ 4+4+4+ 4+4+4 = 49
}Cust; //
- //
+
#endif //
} PROCBUFFER_OUT; //
@@ -365,22 +356,21 @@
//
struct // Here we can define our custom
{ // data types and names for the inputs
- int32_t centerXL;
- int32_t centerYL;
- int32_t forceL;
- int32_t yawL;
- int32_t pitchL;
- int32_t rollL;
- int32_t centerXR;
- int32_t centerYR;
- int32_t forceR;
- int32_t yawR;
- int32_t pitchR;
- int32_t rollR;
- int32_t yawH;
- int32_t pitchH;
- int32_t rollH; //
-
+ int8_t Stand;
+ int8_t Start;
+ int8_t Stepping;
+ int8_t EndStep;
+
+ int8_t Enable;
+ int8_t EnableLateral;
+ int8_t QuickStop;
+ int8_t ClearFault;
+
+ float Standing_Time_T ;
+ float Step_Time_T ;
+ float Wait_COM_Tr_Time_T ;
+ float COM_Tr_Threshold_T ;
+
}Cust; //
//
#endif //