1233
Dependencies: cJSON_lib mcp2515- mbed-dev-f303 esp8266 yezhong_main_controller_copy_3
Diff: MODE/mode.cpp
- Revision:
- 0:e923de71caa5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODE/mode.cpp Fri Jun 24 07:58:26 2022 +0000 @@ -0,0 +1,69 @@ +#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(); +}