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rmp_frame.h File Reference

#include "canio.h"
#include "canio_kvaser.h"

Go to the source code of this file.

Classes

class rmp_frame_t

Defines

#define RMP_CAN_ID_SHUTDOWN   0x0412

#define RMP_CAN_ID_COMMAND   0x0413

#define RMP_CAN_ID_MSG1   0x0400

#define RMP_CAN_ID_MSG2   0x0401

#define RMP_CAN_ID_MSG3   0x0402

#define RMP_CAN_ID_MSG4   0x0403

#define RMP_CAN_ID_MSG5   0x0404

#define RMP_CAN_CMD_NONE   0

#define RMP_CAN_CMD_MAX_VEL   10

#define RMP_CAN_CMD_MAX_ACCL   11

#define RMP_CAN_CMD_MAX_TURN   12

#define RMP_CAN_CMD_GAIN_SCHED   13

#define RMP_CAN_CMD_CURR_LIMIT   14

#define RMP_CAN_CMD_RST_INT   50

#define RMP_CAN_RST_RIGHT   0x01

#define RMP_CAN_RST_LEFT   0x02

#define RMP_CAN_RST_YAW   0x04

#define RMP_CAN_RST_FOREAFT   0x08

#define RMP_CAN_RST_ALL

#define RMP_COUNT_PER_M   33215

#define RMP_COUNT_PER_DEG   7.8

#define RMP_COUNT_PER_M_PER_S   332

#define RMP_COUNT_PER_DEG_PER_S   7.8

#define RMP_COUNT_PER_MM_PER_S   0.32882963

#define RMP_COUNT_PER_DEG_PER_SS   7.8

#define RMP_COUNT_PER_REV   112644

#define RMP_MAX_TRANS_VEL_MM_S   3576

#define RMP_MAX_ROT_VEL_DEG_S   18

#define RMP_MAX_TRANS_VEL_COUNT   1176

#define RMP_MAX_ROT_VEL_COUNT   1024

#define RMP_GEOM_WHEEL_SEP   0.54

Define Documentation

#define RMP_CAN_ID_SHUTDOWN 0x0412

#define RMP_CAN_ID_COMMAND 0x0413

#define RMP_CAN_ID_MSG1 0x0400

#define RMP_CAN_ID_MSG2 0x0401

#define RMP_CAN_ID_MSG3 0x0402

#define RMP_CAN_ID_MSG4 0x0403

#define RMP_CAN_ID_MSG5 0x0404

#define RMP_CAN_CMD_NONE 0

#define RMP_CAN_CMD_MAX_VEL 10

#define RMP_CAN_CMD_MAX_ACCL 11

#define RMP_CAN_CMD_MAX_TURN 12

#define RMP_CAN_CMD_GAIN_SCHED 13

#define RMP_CAN_CMD_CURR_LIMIT 14

#define RMP_CAN_CMD_RST_INT 50

#define RMP_CAN_RST_RIGHT 0x01

#define RMP_CAN_RST_LEFT 0x02

#define RMP_CAN_RST_YAW 0x04

#define RMP_CAN_RST_FOREAFT 0x08

#define RMP_CAN_RST_ALL

Value:
(RMP_CAN_RST_RIGHT | \ RMP_CAN_RST_LEFT | \ RMP_CAN_RST_YAW | \ RMP_CAN_RST_FOREAFT)

#define RMP_COUNT_PER_M 33215

#define RMP_COUNT_PER_DEG 7.8

#define RMP_COUNT_PER_M_PER_S 332

#define RMP_COUNT_PER_DEG_PER_S 7.8

#define RMP_COUNT_PER_MM_PER_S 0.32882963

#define RMP_COUNT_PER_DEG_PER_SS 7.8

#define RMP_COUNT_PER_REV 112644

#define RMP_MAX_TRANS_VEL_MM_S 3576

#define RMP_MAX_ROT_VEL_DEG_S 18

#define RMP_MAX_TRANS_VEL_COUNT 1176

#define RMP_MAX_ROT_VEL_COUNT 1024

#define RMP_GEOM_WHEEL_SEP 0.54

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