2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Diff: communicate.h
- Revision:
- 68:2b2b88ecdcce
- Parent:
- 59:9d66edf3e734
- Child:
- 69:bf094811b4a9
--- a/communicate.h Wed Oct 07 09:01:34 2015 +0000
+++ b/communicate.h Thu Oct 08 09:04:48 2015 +0000
@@ -7,6 +7,8 @@
inline void initializeRS485(){
RS485.format(8,Serial::Even);
}
+
+/*
inline void sendData(int address, int data5) {
unsigned int data;
if (data5 <= 31) {
@@ -14,6 +16,23 @@
RS485.putc(data);
}
}
+*/
+
+inline void sendData(int address, unsigned int data8) {
+ unsigned int data;
+ if (data8 <= 15 && data8 >= 0) {
+ data = 128 | (address << 4) | (data8 & 15);
+ RS485.putc(data);
+ }
+ else if (data8 <= 255 && data8 >= 16) {
+ data = (address << 4) | (data8 >> 4);
+ RS485.putc(data);
+ wait(0.0001);
+ data = 128 | (address << 4) | (data8 & 15);
+ RS485.putc(data);
+ }
+}
+
#ifdef IM920
/***IM920 Communication.***/
