Shao Rui / Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

1

Dependencies:   mbed-dev-f303 FastPWM3

CAN/CAN_com.h@53:32218a36df05, 2020-09-15 (annotated)

Committer:
shaorui
Date:
Tue Sep 15 08:59:03 2020 +0000
Revision:
53:32218a36df05
Parent:
52:d4d5e3414865 
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 42:738fa01b0346 1 #ifndef CAN_COM_H
benkatz 42:738fa01b0346 2 #define CAN_COM_H
benkatz 42:738fa01b0346 3
benkatz 42:738fa01b0346 4 #include "structs.h"
benkatz 42:738fa01b0346 5 #include "user_config.h"
benkatz 42:738fa01b0346 6 #include "mbed.h"
benkatz 42:738fa01b0346 7 #include "math_ops.h"
benkatz 42:738fa01b0346 8
shaorui 53:32218a36df05 9 //#define P_MIN -12.5f
shaorui 53:32218a36df05 10 //#define P_MAX 12.5f
shaorui 48:1b51771c3647 11 //#define P_MIN -25.0f
shaorui 48:1b51771c3647 12 //#define P_MAX 25.0f
shaorui 53:32218a36df05 13 //#define V_MIN -65.0f
shaorui 53:32218a36df05 14 //#define V_MAX 65.0f
shaorui 53:32218a36df05 15 #define P_MIN 0.04f
shaorui 53:32218a36df05 16 #define P_MAX 6.24f
shaorui 53:32218a36df05 17 #define V_MIN -15.0f
shaorui 53:32218a36df05 18 #define V_MAX 15.0f
benkatz 45:aadebe074af6 19 #define KP_MIN 0.0f
benkatz 45:aadebe074af6 20 #define KP_MAX 500.0f
benkatz 45:aadebe074af6 21 #define KD_MIN 0.0f
benkatz 45:aadebe074af6 22 #define KD_MAX 5.0f
shaorui 53:32218a36df05 23 // #define T_MIN -18.0f
shaorui 53:32218a36df05 24 //#define T_MAX 18.0f
shaorui 53:32218a36df05 25 #define T_MIN -50.0f
shaorui 53:32218a36df05 26 #define T_MAX 50.0f
benkatz 42:738fa01b0346 27 void pack_reply(CANMessage *msg, float p, float v, float t);
benkatz 42:738fa01b0346 28 void unpack_cmd(CANMessage msg, ControllerStruct * controller);
shaorui 48:1b51771c3647 29 extern int sidebct;
benkatz 42:738fa01b0346 30
benkatz 42:738fa01b0346 31 #endif