yezhong yezhong / Mbed 2 deprecated Joint_control_AS5147_DRV8323RH_200nm_PID

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Dependencies:   mbed FastPWM3

Diff: CAN/CAN_com.h

Revision:
45:aadebe074af6
Parent:
42:738fa01b0346
Child:
50:3bda887997f0
--- a/CAN/CAN_com.h	Sat Jul 14 22:03:52 2018 +0000
+++ b/CAN/CAN_com.h	Mon Jul 30 20:25:24 2018 +0000
@@ -6,6 +6,17 @@
 #include "mbed.h"
 #include "math_ops.h"
 
+ #define P_MIN -12.5f
+ #define P_MAX 12.5f
+ #define V_MIN -45.0f
+ #define V_MAX 45.0f
+ #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);