Add current limit to the limits message

Author: Wetmelon

Firmware/communication/can/can_simple.cpp

@@ -108,8 +108,8 @@ void CANSimple::do_command(Axis& axis, const can_Message_t& msg) {
         case MSG_SET_CONTROLLER_MODES:
             set_controller_modes_callback(axis, msg);
             break;
-        case MSG_SET_VEL_LIMIT:
-            set_vel_limit_callback(axis, msg);
+        case MSG_SET_LIMITS:
+            set_limits_callback(axis, msg);
             break;
         case MSG_START_ANTICOGGING:
             start_anticogging_callback(axis, msg);
@@ -263,8 +263,9 @@ void CANSimple::set_controller_modes_callback(Axis& axis, const can_Message_t& m
     axis.controller_.config_.input_mode = static_cast<Controller::InputMode>(can_getSignal<int32_t>(msg, 32, 32, true));
 }
 
-void CANSimple::set_vel_limit_callback(Axis& axis, const can_Message_t& msg) {
+void CANSimple::set_limits_callback(Axis& axis, const can_Message_t& msg) {
     axis.controller_.config_.vel_limit = can_getSignal<float>(msg, 0, 32, true);
+    axis.motor_.config_.current_lim = can_getSignal<float>(msg, 32, 32, true);
 }
 
 void CANSimple::start_anticogging_callback(const Axis& axis, const can_Message_t& msg) {

Firmware/communication/can/can_simple.hpp

@@ -22,7 +22,7 @@ class CANSimple {
         MSG_SET_INPUT_POS,
         MSG_SET_INPUT_VEL,
         MSG_SET_INPUT_TORQUE,
-        MSG_SET_VEL_LIMIT,
+        MSG_SET_LIMITS,
         MSG_START_ANTICOGGING,
         MSG_SET_TRAJ_VEL_LIMIT,
         MSG_SET_TRAJ_ACCEL_LIMITS,
@@ -68,7 +68,7 @@ class CANSimple {
     static void set_input_vel_callback(Axis& axis, const can_Message_t& msg);
     static void set_input_torque_callback(Axis& axis, const can_Message_t& msg);
     static void set_controller_modes_callback(Axis& axis, const can_Message_t& msg);
-    static void set_vel_limit_callback(Axis& axis, const can_Message_t& msg);
+    static void set_limits_callback(Axis& axis, const can_Message_t& msg);
     static void set_traj_vel_limit_callback(Axis& axis, const can_Message_t& msg);
     static void set_traj_accel_limits_callback(Axis& axis, const can_Message_t& msg);
     static void set_traj_inertia_callback(Axis& axis, const can_Message_t& msg);

docs/can-protocol.md

@@ -50,7 +50,7 @@ CMD ID | Name | Sender | Signals | Start byte | Signal Type | Bits | Factor | Of
 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
+0x00F | Set Limits | Master | Velocity Limit<br>Current Limit | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br> | 1<br>1 | 0<br>0 | Intel
 0x010 | Start Anticogging | Master | - | - | - | - | - | - | -
 0x011 | Set Traj Vel Limit | Master | Traj Vel Limit | 0 | IEEE 754 Float | 32 | 1 | 0 | Intel
 0x012 | Set Traj Accel Limits | Master | Traj Accel Limit<br>Traj Decel Limit | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel