Enzo Niro
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Robot_a_cables_v2_5
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Robot_a_cables_v2_0
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RaC2018
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parameters.h
00001 /* 00002 Here is the list of the CAN Codes to sent to the motor driver 00003 There identifiers and word code 00004 These parameters can be changed 00005 00006 Here is the default values 00007 00008 00009 //Identifier Codes 00010 00011 #define INITOP 0x00 00012 #define RPDO1_R 0x215 00013 #define RPDO2_R 0x315 00014 #define RPDO3_R 0x415 00015 #define RPDO4_R 0x515 00016 #define TPDO1_R 0x195 00017 #define TPDO2_R 0x295 00018 #define TPDO3_R 0x395 00019 #define TPDO4_R 0x495 00020 #define RPDO1_L 0x220 00021 #define RPDO2_L 0x320 00022 #define RPDO3_L 0x420 00023 #define RPDO4_L 0x520 00024 #define TPDO1_L 0x1A0 00025 #define TPDO2_L 0x2A0 00026 #define TPDO3_L 0x3A0 00027 #define TPDO4_L 0x4A0 00028 00029 00030 00031 //Word codes 00032 00033 //Driver adresses 00034 #define DRIVER11 0x01 00035 #define DRIVER12 0x15 00036 #define DRIVER21 0x01 00037 #define DRIVER22 0x20 00038 00039 00040 00041 */ 00042 00043 00044 00045 00046 00047 //Identifier Codes 00048 00049 /* 00050 To set right value for: 00051 RPDO1 => 0x200 + ID 00052 RPDO2 => 0x300 + ID 00053 RPDO3 => 0x400 + ID 00054 RPDO4 => 0x500 + ID 00055 TPDO1 => 0x180 + ID 00056 TPDO2 => 0x280 + ID 00057 TPDO3 => 0x380 + ID 00058 TPDO4 => 0x480 + ID 00059 */ 00060 00061 00062 #define INITOP 0x00 00063 #define RPDO1_R 0x215 00064 #define RPDO2_R 0x315 00065 #define RPDO3_R 0x415 00066 #define RPDO4_R 0x515 00067 #define TPDO1_R 0x195 00068 #define TPDO2_R 0x295 00069 #define TPDO3_R 0x395 00070 #define TPDO4_R 0x495 00071 #define RPDO1_L 0x220 00072 #define RPDO2_L 0x320 00073 #define RPDO3_L 0x420 00074 #define RPDO4_L 0x520 00075 #define TPDO1_L 0x1A0 00076 #define TPDO2_L 0x2A0 00077 #define TPDO3_L 0x3A0 00078 #define TPDO4_L 0x4A0 00079 00080 00081 00082 //Word codes 00083 00084 //Driver adresses 00085 #define DRIVER_R1 0x01 00086 #define DRIVER_R2 0x15 00087 #define DRIVER_L1 0x01 00088 #define DRIVER_L2 0x20 00089 00090 00091 00092 00093 00094 //Robot setup 00095 /* 00096 Here is the configuration of the robot 00097 */ 00098 00099 //Length from motors to cursor in millimeters(mm) when the origin is taken 00100 //Left motor to cursor 00101 #define LENGTH_L1_PO 1470 00102 //Right motor to cursor 00103 #define LENGTH_L2_PO 1470 00104 //Left motor to Right motor 00105 #define LENGTH_MOTOR 985
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