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Fix CANSimple to use input_pos, vel, current

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This commit is contained in:
Paul Guenette
2019-05-25 14:52:01 +02:00
parent eb385f0bb9
commit 1e40897c2a
3 changed files with 40 additions and 37 deletions
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Firmware/communication/can_simple.cpp
+21 -19
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@@ -76,17 +76,17 @@ void CANSimple::handle_can_message(can_Message_t& msg) {
case MSG_GET_ENCODER_COUNT:
get_encoder_count_callback(axis, msg);
break;
case MSG_MOVE_TO_POS:
move_to_pos_callback(axis, msg);
case MSG_SET_INPUT_POS:
set_input_pos_callback(axis, msg);
break;
case MSG_SET_POS_SETPOINT:
set_pos_setpoint_callback(axis, msg);
case MSG_SET_INPUT_VEL:
set_input_pos_callback(axis, msg);
break;
case MSG_SET_VEL_SETPOINT:
set_vel_setpoint_callback(axis, msg);
case MSG_SET_INPUT_CURRENT:
set_input_pos_callback(axis, msg);
break;
case MSG_SET_CUR_SETPOINT:
set_current_setpoint_callback(axis, msg);
case MSG_SET_CONTROLLER_MODES:
set_controller_modes_callback(axis, msg);
break;
case MSG_SET_VEL_LIMIT:
set_vel_limit_callback(axis, msg);
@@ -275,23 +275,25 @@ void CANSimple::get_encoder_count_callback(Axis* axis, can_Message_t& msg) {
}
}
void CANSimple::move_to_pos_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.move_to_pos(can_getSignal<int32_t>(msg, 0, 32, true, 1, 0));
void CANSimple::set_input_pos_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.input_pos_ = can_getSignal<int32_t>(msg, 0, 32, true, 1, 0);
axis->controller_.input_vel_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.1f, 0);
axis->controller_.input_current_ = can_getSignal<int16_t>(msg, 48, 16, true, 0.01f, 0);
axis->controller_.input_pos_updated();
}
void CANSimple::set_pos_setpoint_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.pos_setpoint_ = can_getSignal<int32_t>(msg, 0, 32, true, 1, 0);
axis->controller_.vel_setpoint_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.1f, 0);
axis->controller_.current_setpoint_ = can_getSignal<int16_t>(msg, 48, 16, true, 0.01f, 0);
void CANSimple::set_input_vel_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.input_vel_ = can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0.0f);
axis->controller_.input_current_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.01f, 0.0f);
}
void CANSimple::set_vel_setpoint_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.vel_setpoint_ = can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0.0f);
axis->controller_.current_setpoint_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.01f, 0.0f);
void CANSimple::set_input_current_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.input_current_ = can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0);
}
void CANSimple::set_current_setpoint_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.current_setpoint_ = can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0);
void CANSimple::set_controller_modes_callback(Axis* axis, can_Message_t& msg){
axis->controller_.config_.control_mode = can_getSignal<Controller::ControlMode_t>(msg, 0, 32, true, 1, 0);
axis->controller_.config_.input_mode = can_getSignal<Controller::InputMode_t>(msg, 32, 32, true, 1, 0);
}
void CANSimple::set_vel_limit_callback(Axis* axis, can_Message_t& msg) {