BE@R lab / BEAR_Protocol

ใช้สื่อสารกันระหว่าง Brain และ Motion

Dependencies:   Fork_Boss_Communication_Robot

Dependents:   Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more

BEAR_Protocol.h@13:45286c47ca0d, 2016-01-28 (annotated)

Committer:
soulx
Date:
Thu Jan 28 15:23:15 2016 +0000
Revision:
13:45286c47ca0d
Parent:
11:b34eababcf56 
boz edit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
b0ssiz 0:fc963e08d580 1 #include "mbed.h"
b0ssiz 0:fc963e08d580 2 #include "Command.h"
b0ssiz 0:fc963e08d580 3 #include "communication.h"
b0ssiz 0:fc963e08d580 4
b0ssiz 0:fc963e08d580 5 #define SERIAL_DEBUG
b0ssiz 0:fc963e08d580 6 #define RS485_DELAY 90
b0ssiz 0:fc963e08d580 7 #define RS485_DIRC PA_14
b0ssiz 0:fc963e08d580 8
b0ssiz 0:fc963e08d580 9
b0ssiz 0:fc963e08d580 10
b0ssiz 0:fc963e08d580 11 class Bear_Communicate
b0ssiz 0:fc963e08d580 12 {
b0ssiz 0:fc963e08d580 13 private:
b0ssiz 0:fc963e08d580 14 COMMUNICATION *com;
b0ssiz 0:fc963e08d580 15
b0ssiz 0:fc963e08d580 16 public:
b0ssiz 0:fc963e08d580 17 Bear_Communicate(PinName,PinName,int);
b0ssiz 4:9fbe67ca2f1b 18 void FloatSep(float,uint8_t*,uint8_t*);
b0ssiz 0:fc963e08d580 19 // Set Command
b0ssiz 4:9fbe67ca2f1b 20 uint8_t setID(uint8_t,uint8_t);
b0ssiz 4:9fbe67ca2f1b 21 uint8_t setMotorPos(uint8_t,float,float);
b0ssiz 5:6f30b4ea4020 22 uint8_t setUpMotorKp(uint8_t,float);
b0ssiz 5:6f30b4ea4020 23 uint8_t setLowMotorKp(uint8_t,float);
b0ssiz 5:6f30b4ea4020 24 uint8_t setUpMotorKi(uint8_t,float);
b0ssiz 5:6f30b4ea4020 25 uint8_t setLowMotorKi(uint8_t,float);
b0ssiz 5:6f30b4ea4020 26 uint8_t setUpMotorKd(uint8_t,float);
b0ssiz 5:6f30b4ea4020 27 uint8_t setLowMotorKd(uint8_t,float);
b0ssiz 0:fc963e08d580 28 //EEPROM
b0ssiz 8:e1f43b1df0b5 29 uint8_t setUpMargin(uint8_t,float);
b0ssiz 8:e1f43b1df0b5 30 uint8_t setLowMargin(uint8_t,float);
b0ssiz 4:9fbe67ca2f1b 31 uint8_t setHeight(uint8_t,float);
b0ssiz 4:9fbe67ca2f1b 32 uint8_t setWheelPos(uint8_t,float);
b0ssiz 4:9fbe67ca2f1b 33 uint8_t setMagData(uint8_t,float,float,float,float,float,float);
b0ssiz 4:9fbe67ca2f1b 34 uint8_t setOffset(uint8_t,float,float);
b0ssiz 11:b34eababcf56 35 uint8_t setBodyWidth(uint8_t,float);
b0ssiz 8:e1f43b1df0b5 36 uint8_t setUpAngleRange(uint8_t,float,float);
b0ssiz 8:e1f43b1df0b5 37 uint8_t setLowAngleRange(uint8_t,float,float);
b0ssiz 10:2398eeafa967 38 uint8_t setUpLinkLength(uint8_t,float);
b0ssiz 10:2398eeafa967 39 uint8_t setLowLinkLength(uint8_t,float);
b0ssiz 4:9fbe67ca2f1b 40
b0ssiz 4:9fbe67ca2f1b 41 // get Command
b0ssiz 4:9fbe67ca2f1b 42 uint8_t getMotorPos(uint8_t,float*,float*);
b0ssiz 5:6f30b4ea4020 43 uint8_t getUpMotorKpKiKd(uint8_t,float*,float*,float*);
b0ssiz 5:6f30b4ea4020 44 uint8_t getLowMotorKpKiKd(uint8_t,float*,float*,float*);
b0ssiz 0:fc963e08d580 45 //EEPROM
b0ssiz 8:e1f43b1df0b5 46 uint8_t getUpMargin(uint8_t,float*);
b0ssiz 8:e1f43b1df0b5 47 uint8_t getLowMargin(uint8_t,float*);
b0ssiz 4:9fbe67ca2f1b 48 uint8_t getHeight(uint8_t,float*);
b0ssiz 4:9fbe67ca2f1b 49 uint8_t getWheelPos(uint8_t,float*);
b0ssiz 4:9fbe67ca2f1b 50 uint8_t getMagData(uint8_t,float*,float*,float*,float*,float*,float*);
b0ssiz 4:9fbe67ca2f1b 51 uint8_t getOffset(uint8_t,float*,float*);
b0ssiz 11:b34eababcf56 52 uint8_t getBodyWidth(uint8_t,float*);
b0ssiz 8:e1f43b1df0b5 53 uint8_t getUpAngleRange(uint8_t,float*,float*);
b0ssiz 8:e1f43b1df0b5 54 uint8_t getLowAngleRange(uint8_t,float*,float*);
b0ssiz 10:2398eeafa967 55 uint8_t getUpLinkLength(uint8_t,float*);
b0ssiz 10:2398eeafa967 56 uint8_t getLowLinkLength(uint8_t,float*);
b0ssiz 10:2398eeafa967 57
b0ssiz 8:e1f43b1df0b5 58
b0ssiz 8:e1f43b1df0b5 59 uint8_t saveDataToEEPROM(uint8_t,uint8_t);
b0ssiz 0:fc963e08d580 60 };