yezhong yezhong / yezhong_main_controller_copy1

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Dependencies:   mbed-dev-f303

Diff: DATA_COMMAND/data_command.cpp

Revision:
2:cd74a8cb03b0
Parent:
0:d80c66cb1b3a
--- a/DATA_COMMAND/data_command.cpp	Tue Nov 17 11:32:58 2020 +0000
+++ b/DATA_COMMAND/data_command.cpp	Thu Nov 19 07:59:28 2020 +0000
@@ -98,8 +98,7 @@
         case('e'):
             command.printf("\n\rPF exiting motor mode\r");
 //          ExitMotorMode(&PF_can);
-            ExitMotorMode(&knee_txMsg);           
-            ExitMotorMode(&ankle_txMsg);
+            
             return_zero = 0;                                                    // 停止回0
             c_lock = 2;                                                         // 电机位置锁无效
 //            send_enable = 0;                                                    // main不发送CAN位置命令
@@ -107,8 +106,7 @@
         case('m'):
             command.printf("\n\rPF entering PC motor mode\r");
 //            EnterMotorMode(&PF_can);
-            EnterMotorMode(&knee_txMsg);           
-            EnterMotorMode(&ankle_txMsg);
+           
 
             return_zero = 0;
             c_lock = 1;                                                         // 电机位置锁定 
@@ -117,8 +115,7 @@
         case('M'):
             command.printf("\n\rPF entering BOARD motor mode\r");
 //            EnterMotorMode(&PF_can);
-            EnterMotorMode(&knee_txMsg);           
-            EnterMotorMode(&ankle_txMsg);
+            
             return_zero = 0;
             c_lock = 0;                                                         // 电机位置解锁
 //            send_enable = 0;                                                    // M模式下，命令是否发送，命令是什么由calculate决定 
@@ -126,8 +123,7 @@
         case('z'):
             command.printf("\n\rPF zeroing\r");
 //            Zero(&PF_can);
-            Zero(&knee_txMsg);
-            Zero(&ankle_txMsg);
+            
             return_zero = 0; 
             c_lock = 2;
 //            send_enable = 0;
@@ -135,8 +131,7 @@
         case('r'):
             command.printf("\n\rPF return zero\r");
 //            EnterMotorMode(&PF_can);
-            EnterMotorMode(&knee_txMsg);           
-            EnterMotorMode(&ankle_txMsg);
+            
             return_zero = 1;
             c_lock = 2;
 //            send_enable = 1;