void Acs300SendThrottleCommand(int16_t command) { CanMessage msg; // If the commanded current is != 0, also make sure the drive's in run mode. Otherwise if it's // 0, put the ACS300 into standby. if (command != 0) { Acs300PackageVelocityCommand(&msg, 0, 0, ACS300_COMMAND_RUN); Ecan1Transmit(&msg); } else { Acs300PackageVelocityCommand(&msg, 0, 0, ACS300_COMMAND_STANDBY); Ecan1Transmit(&msg); } Acs300PackageWriteParam(&msg, ACS300_PARAM_CC, command); Ecan1Transmit(&msg); }
void SendThrottleCommand(int16_t command) { CanMessage msg; Acs300PackageVelocityCommand(&msg, 0, command, 0); Ecan1Transmit(&msg); }