agv_code/guide/motor/curtis.c

/*
 * curtis.c
 *
 *  Created on: 2019Äê6ÔÂ20ÈÕ
 *      Author: Eric
 */
#include "base.h"
#include "log.h"
#include "can.h"
#include "cfg.h"

#define curtisSendRpm(id, rpm, positive)
bool McWalkProcessCurtis(void) {
    static u32 interval = 0;
    s16 v = 0;
    u8 positive;
    if(TimerSub(Timer1ms, interval) < 4){
        return False;
    }
    interval = Timer1ms;
    if(Set.FWlkRpm < 0){
        v = -Set.FWlkRpm;
        positive = 0x80;
    }else{
        v = Set.FWlkRpm;
        positive = 0x40;
    }
    /* canid = 0x200 + id 0x40 */
    CanSendByte(0, 8, 1, 0, 0, 0, 0, 0, 0, 0);
    CanSendByte(0x240, 8, v, v >> 8, positive, 0, 0, Cfg.FWlkAcc, Cfg.FWlkDcc, 0);

    if(Set.BWlkRpm < 0){
        v = -Set.BWlkRpm;
        positive = 0x80;
    }else{
        v = Set.BWlkRpm;
        positive = 0x40;
    }
    /* canid = 0x200 + id 0x41 */
    CanSendByte(0, 8, 1, 0, 0, 0, 0, 0, 0, 0);
    CanSendByte(0x241, 8, v, v >> 8, positive, 0, 0, Cfg.BWlkAcc, Cfg.BWlkDcc, 0);
    //CanSendProcess(CAN1);
    return True;
}