Diff: CAN/CAN_com.cpp

Revision:

48:1b51771c3647

Parent:

45:aadebe074af6

Child:

49:7eac11914980

--- a/CAN/CAN_com.cpp	Sat Dec 07 08:01:06 2019 +0000
+++ b/CAN/CAN_com.cpp	Fri Feb 07 11:31:37 2020 +0000
@@ -41,20 +41,21 @@
 /// 3: [velocity[3-0], kp[11-8]]
 /// 4: [kp[7-0]]
 /// 5: [kd[11-4]]
-/// 6: [kd[3-0], torque[11-8]]
-/// 7: [torque[7-0]]
+/// 6: [kd[3-0], ETX,ETY校验值，ETX=1时设置为0，ETY=1时设置为1，ETX=1,ETY=1时设置为2]
+/// 7: [BCT校验值[7-0]]
 void unpack_cmd(CANMessage msg, ControllerStruct * controller){
         int p_int = (msg.data[0]<<8)|msg.data[1];
         int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);
         int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4];
         int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
-        int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];
+     controller->sidebct = ((msg.data[6]&0xF)<<8)|msg.data[7];//设置为传送BCT校验值，以及设置ETX,ETY的值
+        //int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];//设置为传送BCT校验值，以及设置ETX,ETY的值
         
         controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
         controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
         controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
         controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
-        controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
+        //controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
     //printf("Received   ");
     //printf("%.3f  %.3f  %.3f  %.3f  %.3f   %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
     //printf("\n\r");