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MODE/mode.cpp@11:360230a179b9, 2020-03-13 (annotated)
- Committer:
- shaorui
- Date:
- Fri Mar 13 03:38:13 2020 +0000
- Revision:
- 11:360230a179b9
- Parent:
- 8:95a914f962bd
1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
WXD | 5:6a95726e45b0 | 1 | #include "mode.h" |
shaorui | 8:95a914f962bd | 2 | #include "CAN.h" |
WXD | 5:6a95726e45b0 | 3 | |
WXD | 5:6a95726e45b0 | 4 | // |
WXD | 5:6a95726e45b0 | 5 | void Zero(CANMessage * msg){ |
WXD | 5:6a95726e45b0 | 6 | msg->data[0] = 0xFF; |
WXD | 5:6a95726e45b0 | 7 | msg->data[1] = 0xFF; |
WXD | 5:6a95726e45b0 | 8 | msg->data[2] = 0xFF; |
WXD | 5:6a95726e45b0 | 9 | msg->data[3] = 0xFF; |
WXD | 5:6a95726e45b0 | 10 | msg->data[4] = 0xFF; |
WXD | 5:6a95726e45b0 | 11 | msg->data[5] = 0xFF; |
WXD | 5:6a95726e45b0 | 12 | msg->data[6] = 0xFF; |
WXD | 5:6a95726e45b0 | 13 | msg->data[7] = 0xFE; |
shaorui | 8:95a914f962bd | 14 | WriteAll(); |
WXD | 5:6a95726e45b0 | 15 | } |
WXD | 5:6a95726e45b0 | 16 | |
WXD | 5:6a95726e45b0 | 17 | |
WXD | 5:6a95726e45b0 | 18 | // 进入电机模式 |
WXD | 5:6a95726e45b0 | 19 | void EnterMotorMode(CANMessage * msg){ |
WXD | 5:6a95726e45b0 | 20 | msg->data[0] = 0xFF; |
WXD | 5:6a95726e45b0 | 21 | msg->data[1] = 0xFF; |
WXD | 5:6a95726e45b0 | 22 | msg->data[2] = 0xFF; |
WXD | 5:6a95726e45b0 | 23 | msg->data[3] = 0xFF; |
WXD | 5:6a95726e45b0 | 24 | msg->data[4] = 0xFF; |
WXD | 5:6a95726e45b0 | 25 | msg->data[5] = 0xFF; |
WXD | 5:6a95726e45b0 | 26 | msg->data[6] = 0xFF; |
WXD | 5:6a95726e45b0 | 27 | msg->data[7] = 0xFC; |
shaorui | 8:95a914f962bd | 28 | WriteAll(); |
WXD | 5:6a95726e45b0 | 29 | } |
WXD | 5:6a95726e45b0 | 30 | |
WXD | 5:6a95726e45b0 | 31 | |
WXD | 5:6a95726e45b0 | 32 | // 退出电机模式 |
WXD | 5:6a95726e45b0 | 33 | void ExitMotorMode(CANMessage * msg){ |
WXD | 5:6a95726e45b0 | 34 | msg->data[0] = 0xFF; |
WXD | 5:6a95726e45b0 | 35 | msg->data[1] = 0xFF; |
WXD | 5:6a95726e45b0 | 36 | msg->data[2] = 0xFF; |
WXD | 5:6a95726e45b0 | 37 | msg->data[3] = 0xFF; |
WXD | 5:6a95726e45b0 | 38 | msg->data[4] = 0xFF; |
WXD | 5:6a95726e45b0 | 39 | msg->data[5] = 0xFF; |
WXD | 5:6a95726e45b0 | 40 | msg->data[6] = 0xFF; |
WXD | 5:6a95726e45b0 | 41 | msg->data[7] = 0xFD; |
shaorui | 8:95a914f962bd | 42 | WriteAll(); |
WXD | 5:6a95726e45b0 | 43 | } |
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