12
Dependencies: mbed-dev-f303 FastPWM3
CAN/CAN_com.h@50:f460323fc492, 2021-06-02 (annotated)
- Committer:
- shaorui
- Date:
- Wed Jun 02 00:56:21 2021 +0000
- Revision:
- 50:f460323fc492
- Parent:
- 45:aadebe074af6
test for torque_max
Who changed what in which revision?
User | Revision | Line number | New 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 | |
benkatz | 45:aadebe074af6 | 9 | #define P_MIN -12.5f |
benkatz | 45:aadebe074af6 | 10 | #define P_MAX 12.5f |
shaorui | 50:f460323fc492 | 11 | #define V_MIN -5.0f |
shaorui | 50:f460323fc492 | 12 | #define V_MAX 5.0f |
benkatz | 45:aadebe074af6 | 13 | #define KP_MIN 0.0f |
shaorui | 50:f460323fc492 | 14 | //#define KP_MAX 500.0f |
shaorui | 50:f460323fc492 | 15 | #define KP_MAX 600.0f |
benkatz | 45:aadebe074af6 | 16 | #define KD_MIN 0.0f |
benkatz | 45:aadebe074af6 | 17 | #define KD_MAX 5.0f |
benkatz | 45:aadebe074af6 | 18 | #define T_MIN -18.0f |
benkatz | 45:aadebe074af6 | 19 | #define T_MAX 18.0f |
benkatz | 45:aadebe074af6 | 20 | |
benkatz | 42:738fa01b0346 | 21 | void pack_reply(CANMessage *msg, float p, float v, float t); |
benkatz | 42:738fa01b0346 | 22 | void unpack_cmd(CANMessage msg, ControllerStruct * controller); |
benkatz | 42:738fa01b0346 | 23 | |
benkatz | 42:738fa01b0346 | 24 | |
benkatz | 42:738fa01b0346 | 25 | #endif |