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Dependencies: mbed-dev-f303 FastPWM3
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 V_MIN -5.0f 00012 #define V_MAX 5.0f 00013 #define KP_MIN 0.0f 00014 //#define KP_MAX 500.0f 00015 #define KP_MAX 600.0f 00016 #define KD_MIN 0.0f 00017 #define KD_MAX 5.0f 00018 #define T_MIN -18.0f 00019 #define T_MAX 18.0f 00020 00021 void pack_reply(CANMessage *msg, float p, float v, float t); 00022 void unpack_cmd(CANMessage msg, ControllerStruct * controller); 00023 00024 00025 #endif
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