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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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docs/can-protocol.md
+9 -8
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@@ -46,10 +46,10 @@ CMD ID | Name | Sender | Signals | Start byte
0x008 | Set Axis Startup Config | Master | - Not yet implemented - | -
0x009 | Get Encoder Estimates\* | Master | Encoder Pos Estimate<br>Encoder Vel Estimate | 0<br>4
0x00A | Get Encoder Count\* | Master | Encoder Shadow Count<br>Encoder Count in CPR | 0<br>4
0x00B | Move To Pos | Master | Goal Position | 0
0x00C | Set Pos Setpoint | Master | Pos Setpoint<br>Vel FF<br>Current FF | 0<br>4<br>6
0x00D | Set Vel Setpoint | Master | Vel Setpoint<br>Current FF | 0<br>4
0x00E | Set Current Setpoint | Master | Current Setpoint | 0
0x00B | Set Controller Modes | Master | Control Mode<br>Input Mode | 0<br>4
0x00C | Set Input Pos | Master | Input Pos<br>Vel FF<br>Current FF | 0<br>4<br>6
0x00D | Set Input Vel | Master | Input Current<br>Current FF | 0<br>4
0x00E | Set Input Current | Master | Input Current | 0
0x00F | Set Velocity Limit | Master | Velocity Limit | 0
0x010 | Start Anticogging | Master | - | -
0x011 | Set Traj Vel Limit | Master | Traj Vel Limit | 0
@@ -79,12 +79,13 @@ Encoder Pos Estimate | IEEE 754 Float | 32 | 1 | 0 | Intel
Encoder Vel Estimate | IEEE 754 Float | 32 | 1 | 0 | Intel
Encoder Shadow Count | Signed Int | 32 | 1 | 0 | Intel
Encoder Count In CPR | Signed Int | 32 | 1 | 0 | Intel
Goal Position | Signed Int | 32 | 1 | 0 | Intel
Pos Setpoint | Signed Int | 32 | 1 | 0 | Intel
Control Mode | Signed Int | 32 | 1 | 0 | Intel
Input Mode | Signed Int | 32 | 1 | 0 | Intel
Input Pos | Signed Int | 32 | 1 | 0 | Intel
Vel FF | Signed Int | 16 | 0.1 | 0 | Intel
Current FF | Signed Int | 16 | 0.01 | 0 | Intel
Vel Setpoint | Signed Int | 32 | 0.01 | 0 | Intel
Current Setpoint | Signed Int | 32 | 0.01 | 0 | Intel
Input Vel | Signed Int | 32 | 0.01 | 0 | Intel
Input Current | Signed Int | 32 | 0.01 | 0 | Intel
Velocity Limit | IEEE 754 Float | 32 | 1 | 0 | Intel
Traj Vel Limit | IEEE 754 Float | 32 | 1 | 0 | Intel
Traj Accel Limit | IEEE 754 Float | 32 | 1 | 0 | Intel