yezhong yezhong / yezhong_main_controller_copy

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Dependencies:   mcp2515 mbed-dev-f303

MODE/mode.cpp

Committer:
yezhong
Date:
2022-01-11
Revision:
4:2503c88a564f
Parent:
0:d80c66cb1b3a

File content as of revision 4:2503c88a564f:

#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();
}
// 进入速度模式
void EnterSPEEDMode(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] = 0xFA;
    WriteAll();
}
// 进入位置模式
void EnterPositionMode(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] = 0xFB;
    WriteAll();
}