Shao Rui / Motor_for_suojin

123

Dependencies:   mbed-dev-f303 FastPWM3

CAN/CAN_com.h

Committer:
benkatz
Date:
2018-07-30
Revision:
45:aadebe074af6
Parent:
42:738fa01b0346

File content as of revision 45:aadebe074af6:

#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 -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);


#endif