yezhong yezhong / yuanshi_main_controller_copy2

1

Dependencies:   mbed-dev-f303

MODE/mode.cpp

Committer:
panzhan
Date:
2020-11-10
Revision:
0:d80c66cb1b3a
Child:
2:e85ebf401989

File content as of revision 0:d80c66cb1b3a:

#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();
}