Shao Rui / Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

1

Dependencies:   mbed-dev-f303 FastPWM3

CAN/CAN_com.h

Committer:
shaorui
Date:
2020-09-15
Revision:
53:32218a36df05
Parent:
52:d4d5e3414865

File content as of revision 53:32218a36df05:

#ifndef CAN_COM_H
#define CAN_COM_H

#include "structs.h"
#include "user_config.h"
#include "mbed.h"
#include "math_ops.h"

 //#define P_MIN -12.5f
 //#define P_MAX 12.5f
 //#define P_MIN -25.0f
 //#define P_MAX 25.0f
 //#define V_MIN -65.0f
 //#define V_MAX 65.0f
 #define P_MIN 0.04f
 #define P_MAX 6.24f
 #define V_MIN -15.0f
 #define V_MAX 15.0f
 #define KP_MIN 0.0f
 #define KP_MAX 500.0f
 #define KD_MIN 0.0f
 #define KD_MAX 5.0f
// #define T_MIN -18.0f
 //#define T_MAX 18.0f
#define T_MIN -50.0f
#define T_MAX 50.0f
void pack_reply(CANMessage *msg, float p, float v, float t);
void unpack_cmd(CANMessage msg, ControllerStruct * controller);
extern int sidebct;

#endif