Shao Rui
/
CH_Communicatuin_Test2
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Diff: MODE/mode.cpp
- Revision:
- 5:6a95726e45b0
- Child:
- 8:95a914f962bd
diff -r f0a4a87b6730 -r 6a95726e45b0 MODE/mode.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODE/mode.cpp Tue Oct 08 04:35:23 2019 +0000
@@ -0,0 +1,67 @@
+#include "mode.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();
+}
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