25 lines
608 B
C++
25 lines
608 B
C++
#include "CAN.h"
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class VESC_controller{
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private:
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uint8_t vescId =0;
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int32_t current_duty_cycle=0;
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int32_t readout_motor_current=0;
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int32_t readout_duty_cycle=0;
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mbed::CANMessage lastCanMessage;
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public:
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int32_t setDutyCycle(int32_t duty_cycle);
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void getStatus1(const mbed::CANMessage &canMsg);
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bool verifyDutyCycle();
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void getDataFromVESC();
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void getDataFromVesc();
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uint8_t getVescID();
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VESC_controller(uint8_t address){
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vescId = address;
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current_duty_cycle=0;
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readout_motor_current=0;
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readout_duty_cycle=0;
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}
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}; |