pan zhan / panzhan_main_controller_copy4_fuzzy_copy5

1

Dependencies:   mbed-dev_spine

MODE/mode.cpp@0:6aa5928be32a, 2021-06-18 (annotated)

Committer:
panzhan
Date:
Fri Jun 18 07:17:12 2021 +0000
Revision:
0:6aa5928be32a
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
panzhan 0:6aa5928be32a 1 #include "mode.h"
panzhan 0:6aa5928be32a 2 #include "CAN.h"
panzhan 0:6aa5928be32a 3
panzhan 0:6aa5928be32a 4
panzhan 0:6aa5928be32a 5
panzhan 0:6aa5928be32a 6 //
panzhan 0:6aa5928be32a 7 void Zero(CANMessage * msg){
panzhan 0:6aa5928be32a 8 msg->data[0] = 0xFF;
panzhan 0:6aa5928be32a 9 msg->data[1] = 0xFF;
panzhan 0:6aa5928be32a 10 msg->data[2] = 0xFF;
panzhan 0:6aa5928be32a 11 msg->data[3] = 0xFF;
panzhan 0:6aa5928be32a 12 msg->data[4] = 0xFF;
panzhan 0:6aa5928be32a 13 msg->data[5] = 0xFF;
panzhan 0:6aa5928be32a 14 msg->data[6] = 0xFF;
panzhan 0:6aa5928be32a 15 msg->data[7] = 0xFE;
panzhan 0:6aa5928be32a 16 WriteAll();
panzhan 0:6aa5928be32a 17 }
panzhan 0:6aa5928be32a 18
panzhan 0:6aa5928be32a 19
panzhan 0:6aa5928be32a 20 // 进入电机模式
panzhan 0:6aa5928be32a 21 void EnterMotorMode(CANMessage * msg){
panzhan 0:6aa5928be32a 22 msg->data[0] = 0xFF;
panzhan 0:6aa5928be32a 23 msg->data[1] = 0xFF;
panzhan 0:6aa5928be32a 24 msg->data[2] = 0xFF;
panzhan 0:6aa5928be32a 25 msg->data[3] = 0xFF;
panzhan 0:6aa5928be32a 26 msg->data[4] = 0xFF;
panzhan 0:6aa5928be32a 27 msg->data[5] = 0xFF;
panzhan 0:6aa5928be32a 28 msg->data[6] = 0xFF;
panzhan 0:6aa5928be32a 29 msg->data[7] = 0xFC;
panzhan 0:6aa5928be32a 30 WriteAll();
panzhan 0:6aa5928be32a 31 }
panzhan 0:6aa5928be32a 32
panzhan 0:6aa5928be32a 33
panzhan 0:6aa5928be32a 34 // 退出电机模式
panzhan 0:6aa5928be32a 35 void ExitMotorMode(CANMessage * msg){
panzhan 0:6aa5928be32a 36 msg->data[0] = 0xFF;
panzhan 0:6aa5928be32a 37 msg->data[1] = 0xFF;
panzhan 0:6aa5928be32a 38 msg->data[2] = 0xFF;
panzhan 0:6aa5928be32a 39 msg->data[3] = 0xFF;
panzhan 0:6aa5928be32a 40 msg->data[4] = 0xFF;
panzhan 0:6aa5928be32a 41 msg->data[5] = 0xFF;
panzhan 0:6aa5928be32a 42 msg->data[6] = 0xFF;
panzhan 0:6aa5928be32a 43 msg->data[7] = 0xFD;
panzhan 0:6aa5928be32a 44 WriteAll();
panzhan 0:6aa5928be32a 45 }