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@5:6f30b4ea4020, 2016-01-15 (annotated)

Committer:
b0ssiz
Date:
Fri Jan 15 17:02:08 2016 +0000
Revision:
5:6f30b4ea4020
Parent:
4:9fbe67ca2f1b
Child:
8:e1f43b1df0b5
Add function set Kp,Ki and Kd for upper and lower joint

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 4:9fbe67ca2f1b 29 uint8_t setMargin(uint8_t,float);
b0ssiz 4:9fbe67ca2f1b 30 uint8_t setHeight(uint8_t,float);
b0ssiz 4:9fbe67ca2f1b 31 uint8_t setWheelPos(uint8_t,float);
b0ssiz 4:9fbe67ca2f1b 32 uint8_t setMagData(uint8_t,float,float,float,float,float,float);
b0ssiz 4:9fbe67ca2f1b 33 uint8_t setOffset(uint8_t,float,float);
b0ssiz 4:9fbe67ca2f1b 34 uint8_t setBodyLength(uint8_t,float);
b0ssiz 4:9fbe67ca2f1b 35 uint8_t setAngleRange(uint8_t,float,float);
b0ssiz 4:9fbe67ca2f1b 36
b0ssiz 4:9fbe67ca2f1b 37 // get Command
b0ssiz 4:9fbe67ca2f1b 38 uint8_t getMotorPos(uint8_t,float*,float*);
b0ssiz 5:6f30b4ea4020 39 uint8_t getUpMotorKpKiKd(uint8_t,float*,float*,float*);
b0ssiz 5:6f30b4ea4020 40 uint8_t getLowMotorKpKiKd(uint8_t,float*,float*,float*);
b0ssiz 0:fc963e08d580 41 //EEPROM
b0ssiz 4:9fbe67ca2f1b 42 uint8_t getMargin(uint8_t,float*);
b0ssiz 4:9fbe67ca2f1b 43 uint8_t getHeight(uint8_t,float*);
b0ssiz 4:9fbe67ca2f1b 44 uint8_t getWheelPos(uint8_t,float*);
b0ssiz 4:9fbe67ca2f1b 45 uint8_t getMagData(uint8_t,float*,float*,float*,float*,float*,float*);
b0ssiz 4:9fbe67ca2f1b 46 uint8_t getOffset(uint8_t,float*,float*);
b0ssiz 4:9fbe67ca2f1b 47 uint8_t getBodyLength(uint8_t,float*);
b0ssiz 4:9fbe67ca2f1b 48 uint8_t getAngleRange(uint8_t,float*,float*);
b0ssiz 0:fc963e08d580 49 };