Diff: CAN/CAN_com.cpp

Revision:

55:d57335792cb7

Parent:

54:59575833d16f

--- a/CAN/CAN_com.cpp	Thu Aug 08 17:39:43 2019 +0000
+++ b/CAN/CAN_com.cpp	Tue May 10 02:10:43 2022 +0000
@@ -12,6 +12,20 @@
  #define T_MIN -18.0f
  #define T_MAX 18.0f
  
+ /*
+ //为保证设置参数的最小分辨率,可启用下列参数
+ //注意：必须保证上、下转换时,MIN/MAX的一致,否则数据会出错!!!
+ #define P_MIN -150f
+ #define P_MAX 150f
+ #define V_MIN -270.0f
+ #define V_MAX 270.0f
+ #define KP_MIN 0.0f
+ #define KP_MAX 50.0f
+ #define KD_MIN 0.0f
+ #define KD_MAX 5.0f
+ #define T_MIN -5.0f
+ #define T_MAX 5.0f
+ */
 
 /// CAN Reply Packet Structure ///
 /// 16 bit position, between -4*pi and 4*pi
@@ -61,9 +75,13 @@
         
         controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
         controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
-        controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
+        controller->v_des /= GR;                                         // plan A&B&C, modify by 20210630
+        controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);        
+        controller->kp *= GR;                                            // plan A&B&C, modify by 20210630
         controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
+        //controller->kd /= GR;                                            // plan B&C, modify by 20210630
         controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
+        controller->t_ff *= GR;                                          // plan A&C, modify by 20210630
     //printf("Received   ");
     //printf("%.3f  %.3f  %.3f  %.3f  %.3f   %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
     //printf("\n\r");