123
Dependencies: mbed-dev-f303 FastPWM3
Diff: CAN/CAN_com.h
- Revision:
- 45:aadebe074af6
- Parent:
- 42:738fa01b0346
--- a/CAN/CAN_com.h Sat Jul 14 22:03:52 2018 +0000 +++ b/CAN/CAN_com.h Mon Jul 30 20:25:24 2018 +0000 @@ -6,6 +6,17 @@ #include "mbed.h" #include "math_ops.h" + #define P_MIN -12.5f + #define P_MAX 12.5f + #define V_MIN -45.0f + #define V_MAX 45.0f + #define KP_MIN 0.0f + #define KP_MAX 500.0f + #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);