Shao Rui / Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

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Dependencies:   mbed-dev-f303 FastPWM3

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Show/hide line numbers CAN_com.h Source File

CAN_com.h

00001 #ifndef CAN_COM_H
00002 #define CAN_COM_H
00003 
00004 #include "structs.h"
00005 #include "user_config.h"
00006 #include "mbed.h"
00007 #include "math_ops.h"
00008 
00009  //#define P_MIN -12.5f
00010  //#define P_MAX 12.5f
00011  //#define P_MIN -25.0f
00012  //#define P_MAX 25.0f
00013  //#define V_MIN -65.0f
00014  //#define V_MAX 65.0f
00015  #define P_MIN 0.04f
00016  #define P_MAX 6.24f
00017  #define V_MIN -15.0f
00018  #define V_MAX 15.0f
00019  #define KP_MIN 0.0f
00020  #define KP_MAX 500.0f
00021  #define KD_MIN 0.0f
00022  #define KD_MAX 5.0f
00023 // #define T_MIN -18.0f
00024  //#define T_MAX 18.0f
00025 #define T_MIN -50.0f
00026 #define T_MAX 50.0f
00027 void pack_reply(CANMessage *msg, float p, float v, float t);
00028 void unpack_cmd(CANMessage msg, ControllerStruct * controller);
00029 extern int sidebct;
00030 
00031 #endif
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