yezhong yezhong / panzhan_main_controller_continuous_LX

11

Dependencies:   mbed-dev-f303

MODE/mode.cpp@0:dd5d4837292c, 2021-06-09 (annotated)

Committer:
panzhan
Date:
Wed Jun 09 01:41:45 2021 +0000
Revision:
0:dd5d4837292c
continuous motion

Who changed what in which revision?

UserRevisionLine numberNew contents of line
panzhan 0:dd5d4837292c 1 #include "mode.h"
panzhan 0:dd5d4837292c 2 #include "CAN.h"
panzhan 0:dd5d4837292c 3
panzhan 0:dd5d4837292c 4
panzhan 0:dd5d4837292c 5
panzhan 0:dd5d4837292c 6 //
panzhan 0:dd5d4837292c 7 void Zero(CANMessage * msg){
panzhan 0:dd5d4837292c 8 msg->data[0] = 0xFF;
panzhan 0:dd5d4837292c 9 msg->data[1] = 0xFF;
panzhan 0:dd5d4837292c 10 msg->data[2] = 0xFF;
panzhan 0:dd5d4837292c 11 msg->data[3] = 0xFF;
panzhan 0:dd5d4837292c 12 msg->data[4] = 0xFF;
panzhan 0:dd5d4837292c 13 msg->data[5] = 0xFF;
panzhan 0:dd5d4837292c 14 msg->data[6] = 0xFF;
panzhan 0:dd5d4837292c 15 msg->data[7] = 0xFE;
panzhan 0:dd5d4837292c 16 WriteAll();
panzhan 0:dd5d4837292c 17 }
panzhan 0:dd5d4837292c 18
panzhan 0:dd5d4837292c 19
panzhan 0:dd5d4837292c 20 // 进入电机模式
panzhan 0:dd5d4837292c 21 void EnterMotorMode(CANMessage * msg){
panzhan 0:dd5d4837292c 22 msg->data[0] = 0xFF;
panzhan 0:dd5d4837292c 23 msg->data[1] = 0xFF;
panzhan 0:dd5d4837292c 24 msg->data[2] = 0xFF;
panzhan 0:dd5d4837292c 25 msg->data[3] = 0xFF;
panzhan 0:dd5d4837292c 26 msg->data[4] = 0xFF;
panzhan 0:dd5d4837292c 27 msg->data[5] = 0xFF;
panzhan 0:dd5d4837292c 28 msg->data[6] = 0xFF;
panzhan 0:dd5d4837292c 29 msg->data[7] = 0xFC;
panzhan 0:dd5d4837292c 30 WriteAll();
panzhan 0:dd5d4837292c 31 }
panzhan 0:dd5d4837292c 32
panzhan 0:dd5d4837292c 33
panzhan 0:dd5d4837292c 34 // 退出电机模式
panzhan 0:dd5d4837292c 35 void ExitMotorMode(CANMessage * msg){
panzhan 0:dd5d4837292c 36 msg->data[0] = 0xFF;
panzhan 0:dd5d4837292c 37 msg->data[1] = 0xFF;
panzhan 0:dd5d4837292c 38 msg->data[2] = 0xFF;
panzhan 0:dd5d4837292c 39 msg->data[3] = 0xFF;
panzhan 0:dd5d4837292c 40 msg->data[4] = 0xFF;
panzhan 0:dd5d4837292c 41 msg->data[5] = 0xFF;
panzhan 0:dd5d4837292c 42 msg->data[6] = 0xFF;
panzhan 0:dd5d4837292c 43 msg->data[7] = 0xFD;
panzhan 0:dd5d4837292c 44 WriteAll();
panzhan 0:dd5d4837292c 45 }