Diff: main.cpp

Revision:

47:55bdc4d5096b

Parent:

45:aadebe074af6

Child:

48:1b51771c3647

--- a/main.cpp	Mon Jul 30 20:33:23 2018 +0000
+++ b/main.cpp	Sat Dec 07 08:01:06 2019 +0000
@@ -41,13 +41,13 @@
 Serial pc(PA_2, PA_3);
 
 
-CAN          can(PB_8, PB_9, 1000000);      // CAN Rx pin name, CAN Tx pin name
+CAN          can(PB_8, PB_9, 1000000);      // CAN Rx pin name, CAN Tx pin name, 1000kbps
 CANMessage   rxMsg;
 CANMessage   txMsg;
 
 
 
-PositionSensorAM5147 spi(16384, 0.0, NPP);  
+PositionSensorAM5147 spi(16384, 0.0, NPP);    //14 bits encoder, 21 NPP
 
 volatile int count = 0;
 volatile int state = REST_MODE;
@@ -378,7 +378,7 @@
     memcpy(&lut, &ENCODER_LUT, sizeof(lut));
     spi.WriteLUT(lut);                                                          // Set potision sensor nonlinearity lookup table
     
-    pc.baud(921600);                                                            // set serial baud rate
+    pc.baud(115200);//pc.baud(921600);                                                            // set serial baud rate
     wait(.01);
     pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
     wait(.01);