Ben Katz / Hobbyking_Cheetah_Compact

Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

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Show/hide line numbers CAN_com.h Source File

CAN_com.h

00001 #ifndef CAN_COM_H
00002 #define CAN_COM_H
00003 
00004 #include "structs.h"
00005 #include "user_config.h"
00006 #include "mbed.h"
00007 #include "math_ops.h"
00008 
00009  #define P_MIN -12.5f
00010  #define P_MAX 12.5f
00011  #define V_MIN -45.0f
00012  #define V_MAX 45.0f
00013  #define KP_MIN 0.0f
00014  #define KP_MAX 500.0f
00015  #define KD_MIN 0.0f
00016  #define KD_MAX 5.0f
00017  #define T_MIN -18.0f
00018  #define T_MAX 18.0f
00019 
00020 void pack_reply(CANMessage *msg, float p, float v, float t);
00021 void unpack_cmd(CANMessage msg, ControllerStruct * controller);
00022 
00023 
00024 #endif
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