yezhong yezhong / yezhong_main_controller_copy_3_

1233

Dependencies:   cJSON_lib mcp2515- mbed-dev-f303 esp8266 yezhong_main_controller_copy_3

MODE/mode.cpp@0:e923de71caa5, 2022-06-24 (annotated)

Committer:
yezhong
Date:
Fri Jun 24 07:58:26 2022 +0000
Revision:
0:e923de71caa5
111111

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yezhong 0:e923de71caa5 1 #include "mode.h"
yezhong 0:e923de71caa5 2 #include "CAN.h"
yezhong 0:e923de71caa5 3
yezhong 0:e923de71caa5 4
yezhong 0:e923de71caa5 5
yezhong 0:e923de71caa5 6 //
yezhong 0:e923de71caa5 7 void Zero(CANMessage * msg){
yezhong 0:e923de71caa5 8 msg->data[0] = 0xFF;
yezhong 0:e923de71caa5 9 msg->data[1] = 0xFF;
yezhong 0:e923de71caa5 10 msg->data[2] = 0xFF;
yezhong 0:e923de71caa5 11 msg->data[3] = 0xFF;
yezhong 0:e923de71caa5 12 msg->data[4] = 0xFF;
yezhong 0:e923de71caa5 13 msg->data[5] = 0xFF;
yezhong 0:e923de71caa5 14 msg->data[6] = 0xFF;
yezhong 0:e923de71caa5 15 msg->data[7] = 0xFE;
yezhong 0:e923de71caa5 16 WriteAll();
yezhong 0:e923de71caa5 17 }
yezhong 0:e923de71caa5 18
yezhong 0:e923de71caa5 19
yezhong 0:e923de71caa5 20 // 进入电机模式
yezhong 0:e923de71caa5 21 void EnterMotorMode(CANMessage * msg){
yezhong 0:e923de71caa5 22 msg->data[0] = 0xFF;
yezhong 0:e923de71caa5 23 msg->data[1] = 0xFF;
yezhong 0:e923de71caa5 24 msg->data[2] = 0xFF;
yezhong 0:e923de71caa5 25 msg->data[3] = 0xFF;
yezhong 0:e923de71caa5 26 msg->data[4] = 0xFF;
yezhong 0:e923de71caa5 27 msg->data[5] = 0xFF;
yezhong 0:e923de71caa5 28 msg->data[6] = 0xFF;
yezhong 0:e923de71caa5 29 msg->data[7] = 0xFC;
yezhong 0:e923de71caa5 30 WriteAll();
yezhong 0:e923de71caa5 31 }
yezhong 0:e923de71caa5 32
yezhong 0:e923de71caa5 33
yezhong 0:e923de71caa5 34 // 退出电机模式
yezhong 0:e923de71caa5 35 void ExitMotorMode(CANMessage * msg){
yezhong 0:e923de71caa5 36 msg->data[0] = 0xFF;
yezhong 0:e923de71caa5 37 msg->data[1] = 0xFF;
yezhong 0:e923de71caa5 38 msg->data[2] = 0xFF;
yezhong 0:e923de71caa5 39 msg->data[3] = 0xFF;
yezhong 0:e923de71caa5 40 msg->data[4] = 0xFF;
yezhong 0:e923de71caa5 41 msg->data[5] = 0xFF;
yezhong 0:e923de71caa5 42 msg->data[6] = 0xFF;
yezhong 0:e923de71caa5 43 msg->data[7] = 0xFD;
yezhong 0:e923de71caa5 44 WriteAll();
yezhong 0:e923de71caa5 45 }
yezhong 0:e923de71caa5 46 // 进入速度模式
yezhong 0:e923de71caa5 47 void EnterSPEEDMode(CANMessage * msg){
yezhong 0:e923de71caa5 48 msg->data[0] = 0xFF;
yezhong 0:e923de71caa5 49 msg->data[1] = 0xFF;
yezhong 0:e923de71caa5 50 msg->data[2] = 0xFF;
yezhong 0:e923de71caa5 51 msg->data[3] = 0xFF;
yezhong 0:e923de71caa5 52 msg->data[4] = 0xFF;
yezhong 0:e923de71caa5 53 msg->data[5] = 0xFF;
yezhong 0:e923de71caa5 54 msg->data[6] = 0xFF;
yezhong 0:e923de71caa5 55 msg->data[7] = 0xFA;
yezhong 0:e923de71caa5 56 WriteAll();
yezhong 0:e923de71caa5 57 }
yezhong 0:e923de71caa5 58 // 进入位置模式
yezhong 0:e923de71caa5 59 void EnterPositionMode(CANMessage * msg){
yezhong 0:e923de71caa5 60 msg->data[0] = 0xFF;
yezhong 0:e923de71caa5 61 msg->data[1] = 0xFF;
yezhong 0:e923de71caa5 62 msg->data[2] = 0xFF;
yezhong 0:e923de71caa5 63 msg->data[3] = 0xFF;
yezhong 0:e923de71caa5 64 msg->data[4] = 0xFF;
yezhong 0:e923de71caa5 65 msg->data[5] = 0xFF;
yezhong 0:e923de71caa5 66 msg->data[6] = 0xFF;
yezhong 0:e923de71caa5 67 msg->data[7] = 0xFB;
yezhong 0:e923de71caa5 68 WriteAll();
yezhong 0:e923de71caa5 69 }