Shao Rui / Motor_DRV8323RH_for_2019

12

Dependencies:   mbed-dev-f303 FastPWM3

CAN/CAN_com.h

Committer:
shaorui
Date:
2021-06-02
Revision:
50:f460323fc492
Parent:
45:aadebe074af6

File content as of revision 50:f460323fc492:

#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 V_MIN -5.0f
 #define V_MAX 5.0f
 #define KP_MIN 0.0f
 //#define KP_MAX 500.0f
 #define KP_MAX 600.0f
 #define KD_MIN 0.0f
 #define KD_MAX 5.0f
 #define T_MIN -18.0f
 #define T_MAX 18.0f

void pack_reply(CANMessage *msg, float p, float v, float t);
void unpack_cmd(CANMessage msg, ControllerStruct * controller);


#endif