ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
BEAR_Protocol.h@4:9fbe67ca2f1b, 2016-01-15 (annotated)
- Committer:
- b0ssiz
- Date:
- Fri Jan 15 15:52:31 2016 +0000
- Revision:
- 4:9fbe67ca2f1b
- Parent:
- 0:fc963e08d580
- Child:
- 5:6f30b4ea4020
update floating point
Who changed what in which revision?
User | Revision | Line number | New 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 | 4:9fbe67ca2f1b | 22 | uint8_t setKp(uint8_t,float); |
b0ssiz | 4:9fbe67ca2f1b | 23 | uint8_t setKi(uint8_t,float); |
b0ssiz | 4:9fbe67ca2f1b | 24 | uint8_t setKd(uint8_t,float); |
b0ssiz | 0:fc963e08d580 | 25 | //EEPROM |
b0ssiz | 4:9fbe67ca2f1b | 26 | uint8_t setMargin(uint8_t,float); |
b0ssiz | 4:9fbe67ca2f1b | 27 | uint8_t setHeight(uint8_t,float); |
b0ssiz | 4:9fbe67ca2f1b | 28 | uint8_t setWheelPos(uint8_t,float); |
b0ssiz | 4:9fbe67ca2f1b | 29 | uint8_t setMagData(uint8_t,float,float,float,float,float,float); |
b0ssiz | 4:9fbe67ca2f1b | 30 | uint8_t setOffset(uint8_t,float,float); |
b0ssiz | 4:9fbe67ca2f1b | 31 | uint8_t setBodyLength(uint8_t,float); |
b0ssiz | 4:9fbe67ca2f1b | 32 | uint8_t setAngleRange(uint8_t,float,float); |
b0ssiz | 4:9fbe67ca2f1b | 33 | |
b0ssiz | 4:9fbe67ca2f1b | 34 | // get Command |
b0ssiz | 4:9fbe67ca2f1b | 35 | uint8_t getMotorPos(uint8_t,float*,float*); |
b0ssiz | 4:9fbe67ca2f1b | 36 | uint8_t getKpKiKd(uint8_t,float*,float*,float*); |
b0ssiz | 0:fc963e08d580 | 37 | //EEPROM |
b0ssiz | 4:9fbe67ca2f1b | 38 | uint8_t getMargin(uint8_t,float*); |
b0ssiz | 4:9fbe67ca2f1b | 39 | uint8_t getHeight(uint8_t,float*); |
b0ssiz | 4:9fbe67ca2f1b | 40 | uint8_t getWheelPos(uint8_t,float*); |
b0ssiz | 4:9fbe67ca2f1b | 41 | uint8_t getMagData(uint8_t,float*,float*,float*,float*,float*,float*); |
b0ssiz | 4:9fbe67ca2f1b | 42 | uint8_t getOffset(uint8_t,float*,float*); |
b0ssiz | 4:9fbe67ca2f1b | 43 | uint8_t getBodyLength(uint8_t,float*); |
b0ssiz | 4:9fbe67ca2f1b | 44 | uint8_t getAngleRange(uint8_t,float*,float*); |
b0ssiz | 0:fc963e08d580 | 45 | }; |