mode.cpp

00001 #include "mode.h"
00002 #include "CAN.h"
00003 
00004 
00005 
00006 // 
00007 void Zero(CANMessage * msg){
00008     msg->data[0] = 0xFF;
00009     msg->data[1] = 0xFF;
00010     msg->data[2] = 0xFF;
00011     msg->data[3] = 0xFF;
00012     msg->data[4] = 0xFF;
00013     msg->data[5] = 0xFF;
00014     msg->data[6] = 0xFF;
00015     msg->data[7] = 0xFE;
00016     WriteAll();
00017 }
00018 
00019 
00020 // 进入电机模式
00021 void EnterMotorMode(CANMessage * msg){
00022     msg->data[0] = 0xFF;
00023     msg->data[1] = 0xFF;
00024     msg->data[2] = 0xFF;
00025     msg->data[3] = 0xFF;
00026     msg->data[4] = 0xFF;
00027     msg->data[5] = 0xFF;
00028     msg->data[6] = 0xFF;
00029     msg->data[7] = 0xFC;
00030     WriteAll();
00031 }
00032 
00033 
00034 // 退出电机模式
00035 void ExitMotorMode(CANMessage * msg){
00036     msg->data[0] = 0xFF;
00037     msg->data[1] = 0xFF;
00038     msg->data[2] = 0xFF;
00039     msg->data[3] = 0xFF;
00040     msg->data[4] = 0xFF;
00041     msg->data[5] = 0xFF;
00042     msg->data[6] = 0xFF;
00043     msg->data[7] = 0xFD;
00044     WriteAll();
00045 }