测试

//速度转换成标准的ID
void SETV(int ID,float Vel,float Vel2,float Vel3)
{
    char str[4]={0};
    Candata[0]='S';
    Candata[1]='E';
    Candata[2]='T';
    Candata[3]='V';
    if(Vel<0)
    {
        Vel=(~(-Vel))+1;
    }
    Candata[4]=(Vel&(0xff));
    Candata[5]=(Vel&(0xff00))>>8;;
    Candata[6]=(Vel&(0xff0000))>>16;
    Candata[7]=(Vel&(0xff000000))>>24;

    Candata[8]=(Vel&(0xff));
    Candata[9]=(Vel&(0xff00))>>8;;
    Candata[10]=(Vel&(0xff0000))>>16;
    Candata[11]=(Vel&(0xff000000))>>24;

    Candata[12]=(Vel&(0xff));
    Candata[13]=(Vel&(0xff00))>>8;;
    Candata[14]=(Vel&(0xff0000))>>16;
    Candata[15]=(Vel&(0xff000000))>>24;

    //0xD1,0x0F,0xC0,0x08,0x7E,0x90,0x00,0xF4,0x01,0x00,0x00}    
}

//速度转换成标准的ID
void SETV(int ID,float Vel,float Vel2,float Vel3)
{
    char str[4]={0};
    Candata[0]='S';
    Candata[1]='E';
    Candata[2]='T';
    Candata[3]='V';
    if(Vel<0)
    {
        Vel=(~(-Vel))+1;
    }
    Candata[4]=(Vel&(0xff));
    Candata[5]=(Vel&(0xff00))>>8;;
    Candata[6]=(Vel&(0xff0000))>>16;
    Candata[7]=(Vel&(0xff000000))>>24;

    Candata[8]=(Vel&(0xff));
    Candata[9]=(Vel&(0xff00))>>8;;
    Candata[10]=(Vel&(0xff0000))>>16;
    Candata[11]=(Vel&(0xff000000))>>24;

    Candata[12]=(Vel&(0xff));
    Candata[13]=(Vel&(0xff00))>>8;;
    Candata[14]=(Vel&(0xff0000))>>16;
    Candata[15]=(Vel&(0xff000000))>>24;

    //0xD1,0x0F,0xC0,0x08,0x7E,0x90,0x00,0xF4,0x01,0x00,0x00}    
}