Diff: CAN/CAN_com.h

Revision:

53:32218a36df05

Parent:

52:d4d5e3414865

--- a/CAN/CAN_com.h	Sat Aug 08 13:43:20 2020 +0000
+++ b/CAN/CAN_com.h	Tue Sep 15 08:59:03 2020 +0000
@@ -6,19 +6,24 @@
 #include "mbed.h"
 #include "math_ops.h"
 
- #define P_MIN -12.5f
- #define P_MAX 12.5f
+ //#define P_MIN -12.5f
+ //#define P_MAX 12.5f
  //#define P_MIN -25.0f
  //#define P_MAX 25.0f
- #define V_MIN -65.0f
- #define V_MAX 65.0f
+ //#define V_MIN -65.0f
+ //#define V_MAX 65.0f
+ #define P_MIN 0.04f
+ #define P_MAX 6.24f
+ #define V_MIN -15.0f
+ #define V_MAX 15.0f
  #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
-
+// #define T_MIN -18.0f
+ //#define T_MAX 18.0f
+#define T_MIN -50.0f
+#define T_MAX 50.0f
 void pack_reply(CANMessage *msg, float p, float v, float t);
 void unpack_cmd(CANMessage msg, ControllerStruct * controller);
 extern int sidebct;