added serial up, down, left and right control
Fork of Robot_a_cables_v3_5 by
Diff: parameters.h
- Revision:
- 6:ffffa9dfadfc
- Parent:
- 3:86e21a36eecb
- Child:
- 7:e87feff62bfd
diff -r d5a021bbe81b -r ffffa9dfadfc parameters.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/parameters.h Mon May 07 12:12:34 2018 +0000 @@ -0,0 +1,102 @@ +/* +Here is the list of the CAN Codes to sent to the motor driver +There identifiers and word code +These parameters can be changed + +Here is the default values + + +//Identifier Codes + +#define INITOP 0x00 +#define RPDO1_R 0x215 +#define RPDO2_R 0x315 +#define RPDO3_R 0x415 +#define RPDO4_R 0x515 +#define TPDO1_R 0x195 +#define TPDO2_R 0x295 +#define TPDO3_R 0x395 +#define TPDO4_R 0x495 +#define RPDO1_L 0x220 +#define RPDO2_L 0x320 +#define RPDO3_L 0x420 +#define RPDO4_L 0x520 +#define TPDO1_L 0x1A0 +#define TPDO2_L 0x2A0 +#define TPDO3_L 0x3A0 +#define TPDO4_L 0x4A0 + + + +//Word codes + +//Driver adresses +#define DRIVER11 0x01 +#define DRIVER12 0x15 +#define DRIVER21 0x01 +#define DRIVER22 0x20 + + + +*/ + + + + + +//Identifier Codes + +/* +To set right value for: +RPDO1 => 0x200 + ID +RPDO2 => 0x300 + ID +RPDO3 => 0x400 + ID +RPDO4 => 0x500 + ID +TPDO1 => 0x180 + ID +TPDO2 => 0x280 + ID +TPDO3 => 0x380 + ID +TPDO4 => 0x480 + ID +*/ + + +#define INITOP 0x00 +#define RPDO1_R 0x215 +#define RPDO2_R 0x315 +#define RPDO3_R 0x415 +#define RPDO4_R 0x515 +#define TPDO1_R 0x195 +#define TPDO2_R 0x295 +#define TPDO3_R 0x395 +#define TPDO4_R 0x495 +#define RPDO1_L 0x220 +#define RPDO2_L 0x320 +#define RPDO3_L 0x420 +#define RPDO4_L 0x520 +#define TPDO1_L 0x1A0 +#define TPDO2_L 0x2A0 +#define TPDO3_L 0x3A0 +#define TPDO4_L 0x4A0 + + + +//Word codes + +//Driver adresses +#define DRIVER_R1 0x01 +#define DRIVER_R2 0x15 +#define DRIVER_L1 0x01 +#define DRIVER_L2 0x20 + + + + + +//Robot setup +/* +Here is the configuration of the robot +*/ + +//Length from motors to cursor in millimeters(mm) when the origin is taken +//Left motor to cursor +#define LENGTH_L1_PO 1355 +#define LENGTH_L2_PO 1355