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Fixed units for can_simple protocol and updated can HWIL test

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PAJohnson
2020-07-29 20:46:26 -04:00
parent e0f9665d2c
commit b63983ef5c
3 changed files with 21 additions and 21 deletions
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docs/can-protocol.md
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@@ -47,9 +47,9 @@ CMD ID | Name | Sender | Signals | Start byte | Signal Type | Bits | Factor | Of
0x009 | Get Encoder Estimates\* | Master | Encoder Pos Estimate<br>Encoder Vel Estimate | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x00A | Get Encoder Count\* | Master | Encoder Shadow Count<br>Encoder Count in CPR | 0<br>4 | Signed Int<br>Signed Int | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x00B | Set Controller Modes | Master | Control Mode<br>Input Mode | 0<br>4 | Signed Int<br>Signed Int | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x00C | Set Input Pos | Master | Input Pos<br>Vel FF<br>Current FF | 0<br>4<br>6 | Signed Int<br>Signed Int<br>Signed Int | 32<br>16<br>16 | 1<br>0.1<br>0.01 | 0<br>0<br>0 | Intel<br>Intel<br>Intel
0x00D | Set Input Vel | Master | Input Vel<br>Current FF | 0<br>4 | Signed Int<br>Signed Int | 32<br>32 | 0.01<br>0.01 | 0<br>0 | Intel<br>Intel
0x00E | Set Input Current | Master | Input Current | 0 | Signed Int | 32 | 0.01 | 0 | Intel
0x00C | Set Input Pos | Master | Input Pos<br>Vel FF<br>Torque FF | 0<br>4<br>6 | IEEE 754 Float<br>Signed Int<br>Signed Int | 32<br>16<br>16 | 1<br>0.001<br>0.001 | 0<br>0<br>0 | Intel<br>Intel<br>Intel
0x00D | Set Input Vel | Master | Input Vel<br>Torque FF | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x00E | Set Input Torque | Master | Input Torque | 0 | IEEE 754 Float | 32 | 1 | 0 | Intel
0x00F | Set Velocity Limit | Master | Velocity Limit | 0 | IEEE 754 Float | 32 | 1 | 0 | Intel
0x010 | Start Anticogging | Master | - | - | - | - | - | - | -
0x011 | Set Traj Vel Limit | Master | Traj Vel Limit | 0 | IEEE 754 Float | 32 | 1 | 0 | Intel