pan zhan / panzhan_main_controller_continuous

12

Dependencies:   mbed-dev_spine

CAN/CAN.h@0:dd5d4837292c, 2021-06-09 (annotated)

Committer:
panzhan
Date:
Wed Jun 09 01:41:45 2021 +0000
Revision:
0:dd5d4837292c
continuous motion

Who changed what in which revision?

UserRevisionLine numberNew contents of line
panzhan 0:dd5d4837292c 1 #ifndef _CAN_H
panzhan 0:dd5d4837292c 2 #define _CAN_H
panzhan 0:dd5d4837292c 3
panzhan 0:dd5d4837292c 4 // 头文件
panzhan 0:dd5d4837292c 5 #include "mbed.h"
panzhan 0:dd5d4837292c 6 #include "math_ops.h"
panzhan 0:dd5d4837292c 7 #include "leg_message.h"
panzhan 0:dd5d4837292c 8 #include "used_leg_message.h"
panzhan 0:dd5d4837292c 9
panzhan 0:dd5d4837292c 10
panzhan 0:dd5d4837292c 11 // 宏定义
panzhan 0:dd5d4837292c 12 #define CAN_ID 0x01 // Master CAN ID
panzhan 0:dd5d4837292c 13
panzhan 0:dd5d4837292c 14 #define P_MIN -12.5f // Value Limits
panzhan 0:dd5d4837292c 15 #define P_MAX 12.5f
panzhan 0:dd5d4837292c 16 #define V_MIN -45.0f
panzhan 0:dd5d4837292c 17 #define V_MAX 45.0f
panzhan 0:dd5d4837292c 18 #define KP_MIN 0.0f
panzhan 0:dd5d4837292c 19 #define KP_MAX 500.0f
panzhan 0:dd5d4837292c 20 #define KD_MIN 0.0f
panzhan 0:dd5d4837292c 21 #define KD_MAX 5.0f
panzhan 0:dd5d4837292c 22 #define T_MIN -18.0f
panzhan 0:dd5d4837292c 23 #define T_MAX 18.0f // Value Limits
panzhan 0:dd5d4837292c 24
panzhan 0:dd5d4837292c 25
panzhan 0:dd5d4837292c 26 // 对象外部申明
panzhan 0:dd5d4837292c 27 extern CAN knee_can,ankle_can; // 设备的外部申明
panzhan 0:dd5d4837292c 28 extern CANMessage knee_rxMsg, ankle_rxMsg; // 主控收到的CAN消息
panzhan 0:dd5d4837292c 29 extern CANMessage knee_txMsg, ankle_txMsg; // 主控发送的CAN消息
panzhan 0:dd5d4837292c 30
panzhan 0:dd5d4837292c 31 // 函数外部申明
panzhan 0:dd5d4837292c 32 void pack_cmd(CANMessage * msg, joint_control joint);
panzhan 0:dd5d4837292c 33 void PackAll();
panzhan 0:dd5d4837292c 34 void WriteAll();
panzhan 0:dd5d4837292c 35 void unpack_reply(CANMessage msg, leg_state * state);
panzhan 0:dd5d4837292c 36
panzhan 0:dd5d4837292c 37
panzhan 0:dd5d4837292c 38
panzhan 0:dd5d4837292c 39 #endif