Diff: CAN/CAN_com.cpp

Revision:

49:7eac11914980

Parent:

48:1b51771c3647

--- a/CAN/CAN_com.cpp	Fri Feb 07 11:31:37 2020 +0000
+++ b/CAN/CAN_com.cpp	Thu Mar 19 03:48:24 2020 +0000
@@ -48,14 +48,14 @@
         int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);
         int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4];
         int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
-     controller->sidebct = ((msg.data[6]&0xF)<<8)|msg.data[7];//设置为传送BCT校验值，以及设置ETX,ETY的值
-        //int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];//设置为传送BCT校验值，以及设置ETX,ETY的值
+     //controller->sidebct = ((msg.data[6]&0xF)<<8)|msg.data[7];//设置为传送BCT校验值，以及设置ETX,ETY的值
+        int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];//设置为传送BCT校验值，以及设置ETX,ETY的值
         
         controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
         controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
         controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
         controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
-        //controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
+        controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
     //printf("Received   ");
     //printf("%.3f  %.3f  %.3f  %.3f  %.3f   %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
     //printf("\n\r");