Diff: MODE/mode.cpp

Revision:

0:dd5d4837292c

diff -r 000000000000 -r dd5d4837292c MODE/mode.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODE/mode.cpp	Wed Jun 09 01:41:45 2021 +0000
@@ -0,0 +1,45 @@
+#include "mode.h"
+#include "CAN.h"
+
+
+
+// 
+void Zero(CANMessage * msg){
+    msg->data[0] = 0xFF;
+    msg->data[1] = 0xFF;
+    msg->data[2] = 0xFF;
+    msg->data[3] = 0xFF;
+    msg->data[4] = 0xFF;
+    msg->data[5] = 0xFF;
+    msg->data[6] = 0xFF;
+    msg->data[7] = 0xFE;
+    WriteAll();
+}
+
+
+// 进入电机模式
+void EnterMotorMode(CANMessage * msg){
+    msg->data[0] = 0xFF;
+    msg->data[1] = 0xFF;
+    msg->data[2] = 0xFF;
+    msg->data[3] = 0xFF;
+    msg->data[4] = 0xFF;
+    msg->data[5] = 0xFF;
+    msg->data[6] = 0xFF;
+    msg->data[7] = 0xFC;
+    WriteAll();
+}
+
+
+// 退出电机模式
+void ExitMotorMode(CANMessage * msg){
+    msg->data[0] = 0xFF;
+    msg->data[1] = 0xFF;
+    msg->data[2] = 0xFF;
+    msg->data[3] = 0xFF;
+    msg->data[4] = 0xFF;
+    msg->data[5] = 0xFF;
+    msg->data[6] = 0xFF;
+    msg->data[7] = 0xFD;
+    WriteAll();
+}