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Dependencies: mbed-dev-f303 FastPWM3
CAN/CAN_com.h@55:d614e29c60c5, 2021-04-14 (annotated)
- Committer:
- shaorui
- Date:
- Wed Apr 14 11:46:16 2021 +0000
- Revision:
- 55:d614e29c60c5
- Parent:
- 53:32218a36df05
1
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 | |
shaorui | 53:32218a36df05 | 9 | //#define P_MIN -12.5f |
shaorui | 53:32218a36df05 | 10 | //#define P_MAX 12.5f |
shaorui | 48:1b51771c3647 | 11 | //#define P_MIN -25.0f |
shaorui | 48:1b51771c3647 | 12 | //#define P_MAX 25.0f |
shaorui | 53:32218a36df05 | 13 | //#define V_MIN -65.0f |
shaorui | 53:32218a36df05 | 14 | //#define V_MAX 65.0f |
shaorui | 53:32218a36df05 | 15 | #define P_MIN 0.04f |
shaorui | 53:32218a36df05 | 16 | #define P_MAX 6.24f |
shaorui | 53:32218a36df05 | 17 | #define V_MIN -15.0f |
shaorui | 53:32218a36df05 | 18 | #define V_MAX 15.0f |
benkatz | 45:aadebe074af6 | 19 | #define KP_MIN 0.0f |
benkatz | 45:aadebe074af6 | 20 | #define KP_MAX 500.0f |
benkatz | 45:aadebe074af6 | 21 | #define KD_MIN 0.0f |
benkatz | 45:aadebe074af6 | 22 | #define KD_MAX 5.0f |
shaorui | 53:32218a36df05 | 23 | // #define T_MIN -18.0f |
shaorui | 53:32218a36df05 | 24 | //#define T_MAX 18.0f |
shaorui | 53:32218a36df05 | 25 | #define T_MIN -50.0f |
shaorui | 53:32218a36df05 | 26 | #define T_MAX 50.0f |
benkatz | 42:738fa01b0346 | 27 | void pack_reply(CANMessage *msg, float p, float v, float t); |
benkatz | 42:738fa01b0346 | 28 | void unpack_cmd(CANMessage msg, ControllerStruct * controller); |
shaorui | 48:1b51771c3647 | 29 | extern int sidebct; |
benkatz | 42:738fa01b0346 | 30 | |
benkatz | 42:738fa01b0346 | 31 | #endif |