make_can_msg.h

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#ifndef make_can_msg_h
#define make_can_msg_h
 
#include "Arduino.h"
#include "motor_constants.h"
#include "utilities.h"
 
namespace make_can_msg
{
    void readPIDParameters(unsigned char* _can_message);
 
    void writePIDParametersToRAM(unsigned char* _can_message, 
        unsigned char _k_p_position, 
        unsigned char _k_i_position, 
        unsigned char _k_p_speed, 
        unsigned char _k_i_speed,
        unsigned char _k_p_torque,
        unsigned char _k_i_torque);
 
    void writePIDParametersToROM(unsigned char* _can_message, 
        unsigned char _k_p_position, 
        unsigned char _k_i_position, 
        unsigned char _k_p_speed, 
        unsigned char _k_i_speed,
        unsigned char _k_p_torque,
        unsigned char _k_i_torque);
 
    void readAcceleration(unsigned char* _can_message);
 
    void writeAccelerationToRAM(unsigned char* _can_message, int32_t _acceleration);
 
    void readEncoderPosition(unsigned char* _can_message);
 
    void writeEncoderPositionOffset(unsigned char* _can_message, uint16_t _encoder_offset);
 
    void writeCurrentPositionToROM(unsigned char* _can_message);
 
    void readMultiTurnAngle(unsigned char* _can_message);
 
    void readCircleTurnAngle(unsigned char* _can_message);
 
    void motorOff(unsigned char* _can_message);
 
    void motorStop(unsigned char* _can_message);
 
    void motorRunning(unsigned char* _can_message);
 
    void readMotorStatus1AndErrorFlag(unsigned char* _can_message);
 
    void clearMotorErrorFlag(unsigned char* _can_message);
 
    void readMotorStatus2(unsigned char* _can_message);
 
    void readMotorStatus3(unsigned char* _can_message);
 
    void torqueCurrentControl(unsigned char* _can_message, int16_t _torque_current);
 
    void speedControl(unsigned char* _can_message, int32_t speed);
 
    void positionControl1(unsigned char* _can_message, int32_t _multiturn_angle);
 
    void positionControl2(unsigned char* _can_message, int32_t _multiturn_angle, uint16_t _max_speed);
 
    void positionControl3(unsigned char* _can_message, uint16_t _singleturn_angle, uint8_t _spin_direction);
 
    void positionControl4(unsigned char* _can_message, uint16_t _single_turn_angle, uint8_t _spin_direction, uint16_t max_speed);
}
 
#endif