MotorModule.h

00001 #ifndef CAN_COM_H
00002 #define CAN_COM_H
00003 
00004 #include "mbed.h"
00005 #include "../math_ops.h"
00006 
00007 /// Value Limits ///
00008 #define P_MIN -95.5f        // Radians
00009  #define P_MAX 95.5f        
00010  #define V_MIN -45.0f       // Rad/s
00011  #define V_MAX 45.0f
00012  #define KP_MIN 0.0f        // N-m/rad
00013  #define KP_MAX 500.0f
00014  #define KD_MIN 0.0f        // N-m/rad/s
00015  #define KD_MAX 5.0f
00016  #define I_MIN -18.0f
00017  #define I_MAX 18.0f
00018  
00019  
00020 /// Structs for organizing commands and data ///
00021 typedef struct
00022 {
00023     int id;
00024     float position, velocity, current;
00025 } StateStruct;
00026 
00027     
00028 typedef struct
00029 {
00030     int id;
00031     float i_ff, p_des, kp, v_des, kd;
00032 }ControlStruct;
00033 
00034 typedef struct
00035 {
00036     StateStruct state;
00037     ControlStruct control;
00038     CANMessage rxMsg;
00039     CANMessage txMsg;
00040 }MotorStruct;
00041 
00042 void pack_cmd(MotorStruct * motor);
00043 void unpack_reply(MotorStruct * motor);
00044 void enable_motor(MotorStruct * motor, CAN * can);
00045 void disable_motor(MotorStruct * motor, CAN * can);
00046 void zero_motor(MotorStruct * motor, CAN * can);
00047 
00048 
00049 
00050 #endif