Shao Rui / RV_brake_2021_3_19

1

Dependencies:   mbed-dev-f303 FastPWM3

CAN/CAN_com.h

Committer:
Rushu
Date:
2020-08-08
Revision:
52:d4d5e3414865
Parent:
48:1b51771c3647
Child:
53:32218a36df05

File content as of revision 52:d4d5e3414865:

#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 P_MIN -25.0f
 //#define P_MAX 25.0f
 #define V_MIN -65.0f
 #define V_MAX 65.0f
 #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);
extern int sidebct;

#endif