pan zhan / panzhan_main_controller_copy2

1

Dependencies:   mbed-dev_spine

MODE/mode.cpp

Committer:
panzhan
Date:
2020-11-17
Revision:
1:a71791b81b8a
Parent:
0:d80c66cb1b3a

File content as of revision 1:a71791b81b8a:

#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();
}