ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
BEAR_Protocol.cpp@8:e1f43b1df0b5, 2016-01-21 (annotated)
- Committer:
- b0ssiz
- Date:
- Thu Jan 21 17:24:49 2016 +0000
- Revision:
- 8:e1f43b1df0b5
- Parent:
- 7:ce4234c56410
- Child:
- 9:c22410169d9f
Update; - saveDataToEEPROM function; - Seperate Margin to UpMargin and LowMargin; - Add macro in Command.h
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 "BEAR_Protocol.h" |
b0ssiz | 2:d17ccaf938f6 | 3 | #define RS485_DELAY 90 |
b0ssiz | 4:9fbe67ca2f1b | 4 | #define FLOAT_CONVERTER 10000 |
b0ssiz | 4:9fbe67ca2f1b | 5 | |
b0ssiz | 0:fc963e08d580 | 6 | DigitalOut rs485_dirc(RS485_DIRC); |
b0ssiz | 0:fc963e08d580 | 7 | |
b0ssiz | 0:fc963e08d580 | 8 | Bear_Communicate::Bear_Communicate(PinName tx,PinName rx,int baudrate) |
b0ssiz | 0:fc963e08d580 | 9 | { |
b0ssiz | 0:fc963e08d580 | 10 | com = new COMMUNICATION(tx,rx,baudrate); |
b0ssiz | 0:fc963e08d580 | 11 | } |
b0ssiz | 0:fc963e08d580 | 12 | |
b0ssiz | 0:fc963e08d580 | 13 | |
b0ssiz | 0:fc963e08d580 | 14 | |
b0ssiz | 4:9fbe67ca2f1b | 15 | void Bear_Communicate::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array) |
b0ssiz | 4:9fbe67ca2f1b | 16 | { |
b0ssiz | 4:9fbe67ca2f1b | 17 | float float_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 18 | float int_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 19 | int16_t integer; |
b0ssiz | 4:9fbe67ca2f1b | 20 | int16_t floating_point; |
b0ssiz | 4:9fbe67ca2f1b | 21 | |
b0ssiz | 4:9fbe67ca2f1b | 22 | float_buffer=modf(input_float,&int_buffer); |
b0ssiz | 4:9fbe67ca2f1b | 23 | float_buffer*=FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 24 | integer=(int16_t)int_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 25 | floating_point=(int16_t)float_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 26 | Utilities::ConvertInt16ToUInt8Array(integer,int_data_array); |
b0ssiz | 4:9fbe67ca2f1b | 27 | Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array); |
b0ssiz | 4:9fbe67ca2f1b | 28 | } |
b0ssiz | 4:9fbe67ca2f1b | 29 | |
b0ssiz | 4:9fbe67ca2f1b | 30 | |
b0ssiz | 4:9fbe67ca2f1b | 31 | |
b0ssiz | 8:e1f43b1df0b5 | 32 | uint8_t Bear_Communicate::saveDataToEEPROM(uint8_t id,uint8_t save_data) |
b0ssiz | 8:e1f43b1df0b5 | 33 | { |
b0ssiz | 8:e1f43b1df0b5 | 34 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:e1f43b1df0b5 | 35 | |
b0ssiz | 8:e1f43b1df0b5 | 36 | package.robotId = id; |
b0ssiz | 8:e1f43b1df0b5 | 37 | package.length = 4; |
b0ssiz | 8:e1f43b1df0b5 | 38 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:e1f43b1df0b5 | 39 | package.parameter[0]=SAVE_EEPROM_DATA; |
b0ssiz | 8:e1f43b1df0b5 | 40 | package.parameter[1]=save_data; |
b0ssiz | 8:e1f43b1df0b5 | 41 | |
b0ssiz | 8:e1f43b1df0b5 | 42 | rs485_dirc=1; |
b0ssiz | 8:e1f43b1df0b5 | 43 | wait_us(RS485_DELAY); |
b0ssiz | 8:e1f43b1df0b5 | 44 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:e1f43b1df0b5 | 45 | } |
b0ssiz | 8:e1f43b1df0b5 | 46 | |
b0ssiz | 8:e1f43b1df0b5 | 47 | |
b0ssiz | 4:9fbe67ca2f1b | 48 | uint8_t Bear_Communicate::setID(uint8_t id,uint8_t new_id) |
b0ssiz | 0:fc963e08d580 | 49 | { |
b0ssiz | 0:fc963e08d580 | 50 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 51 | |
b0ssiz | 0:fc963e08d580 | 52 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 53 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 54 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 55 | package.parameter[0]=ID; |
b0ssiz | 0:fc963e08d580 | 56 | package.parameter[1]=new_id; |
b0ssiz | 0:fc963e08d580 | 57 | |
b0ssiz | 0:fc963e08d580 | 58 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 59 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 60 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 61 | } |
b0ssiz | 0:fc963e08d580 | 62 | |
b0ssiz | 0:fc963e08d580 | 63 | |
b0ssiz | 0:fc963e08d580 | 64 | |
b0ssiz | 4:9fbe67ca2f1b | 65 | uint8_t Bear_Communicate::setMotorPos(uint8_t id,float up_angle,float low_angle) |
b0ssiz | 0:fc963e08d580 | 66 | { |
b0ssiz | 4:9fbe67ca2f1b | 67 | uint8_t IntUpAngle[2],FloatUpAngle[2]; |
b0ssiz | 4:9fbe67ca2f1b | 68 | uint8_t IntLowAngle[2],FloatLowAngle[2]; |
b0ssiz | 4:9fbe67ca2f1b | 69 | FloatSep(up_angle,IntUpAngle,FloatUpAngle); |
b0ssiz | 4:9fbe67ca2f1b | 70 | FloatSep(low_angle,IntLowAngle,FloatLowAngle); |
b0ssiz | 4:9fbe67ca2f1b | 71 | |
b0ssiz | 0:fc963e08d580 | 72 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 73 | |
b0ssiz | 0:fc963e08d580 | 74 | package.robotId = id; |
b0ssiz | 4:9fbe67ca2f1b | 75 | package.length = 11; |
b0ssiz | 0:fc963e08d580 | 76 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 77 | package.parameter[0]=MOTOR_UPPER_ANG; |
b0ssiz | 4:9fbe67ca2f1b | 78 | package.parameter[1]=IntUpAngle[0]; |
b0ssiz | 4:9fbe67ca2f1b | 79 | package.parameter[2]=IntUpAngle[1]; |
b0ssiz | 4:9fbe67ca2f1b | 80 | package.parameter[3]=FloatUpAngle[0]; |
b0ssiz | 4:9fbe67ca2f1b | 81 | package.parameter[4]=FloatUpAngle[1]; |
b0ssiz | 4:9fbe67ca2f1b | 82 | package.parameter[5]=IntLowAngle[0]; |
b0ssiz | 4:9fbe67ca2f1b | 83 | package.parameter[6]=IntLowAngle[1]; |
b0ssiz | 4:9fbe67ca2f1b | 84 | package.parameter[7]=FloatLowAngle[0]; |
b0ssiz | 4:9fbe67ca2f1b | 85 | package.parameter[8]=FloatLowAngle[1]; |
b0ssiz | 0:fc963e08d580 | 86 | |
b0ssiz | 0:fc963e08d580 | 87 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 88 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 89 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 90 | } |
b0ssiz | 0:fc963e08d580 | 91 | |
b0ssiz | 0:fc963e08d580 | 92 | |
b0ssiz | 0:fc963e08d580 | 93 | |
b0ssiz | 4:9fbe67ca2f1b | 94 | uint8_t Bear_Communicate::getMotorPos(uint8_t id,float *up_angle,float *low_angle) |
b0ssiz | 0:fc963e08d580 | 95 | { |
b0ssiz | 4:9fbe67ca2f1b | 96 | uint8_t IntUpAngle[2],FloatUpAngle[2]; |
b0ssiz | 4:9fbe67ca2f1b | 97 | uint8_t IntLowAngle[2],FloatLowAngle[2]; |
b0ssiz | 4:9fbe67ca2f1b | 98 | float int_buffer,float_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 99 | |
b0ssiz | 0:fc963e08d580 | 100 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 101 | |
b0ssiz | 0:fc963e08d580 | 102 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 103 | package.length = 3; |
b0ssiz | 0:fc963e08d580 | 104 | package.instructionErrorId = READ_DATA; |
b0ssiz | 7:ce4234c56410 | 105 | package.parameter[0] = MOTOR_UPPER_ANG; |
b0ssiz | 0:fc963e08d580 | 106 | |
b0ssiz | 0:fc963e08d580 | 107 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 108 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 109 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 110 | |
b0ssiz | 0:fc963e08d580 | 111 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 112 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 113 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 114 | |
b0ssiz | 0:fc963e08d580 | 115 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 6:07749b50d600 | 116 | IntUpAngle[0]=package.parameter[0]; |
b0ssiz | 6:07749b50d600 | 117 | IntUpAngle[1]=package.parameter[1]; |
b0ssiz | 6:07749b50d600 | 118 | FloatUpAngle[0]=package.parameter[2]; |
b0ssiz | 6:07749b50d600 | 119 | FloatUpAngle[1]=package.parameter[3]; |
b0ssiz | 4:9fbe67ca2f1b | 120 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntUpAngle); |
b0ssiz | 4:9fbe67ca2f1b | 121 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatUpAngle)/FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 122 | *up_angle=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 123 | |
b0ssiz | 6:07749b50d600 | 124 | IntLowAngle[0]=package.parameter[4]; |
b0ssiz | 6:07749b50d600 | 125 | IntLowAngle[1]=package.parameter[5]; |
b0ssiz | 6:07749b50d600 | 126 | FloatLowAngle[0]=package.parameter[6]; |
b0ssiz | 6:07749b50d600 | 127 | FloatLowAngle[1]=package.parameter[7]; |
b0ssiz | 4:9fbe67ca2f1b | 128 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntLowAngle); |
b0ssiz | 4:9fbe67ca2f1b | 129 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatLowAngle)/FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 130 | *low_angle=int_buffer+float_buffer;; |
b0ssiz | 0:fc963e08d580 | 131 | |
b0ssiz | 0:fc963e08d580 | 132 | } |
b0ssiz | 0:fc963e08d580 | 133 | return status; |
b0ssiz | 0:fc963e08d580 | 134 | } |
b0ssiz | 0:fc963e08d580 | 135 | |
b0ssiz | 0:fc963e08d580 | 136 | |
b0ssiz | 0:fc963e08d580 | 137 | |
b0ssiz | 5:6f30b4ea4020 | 138 | uint8_t Bear_Communicate::setUpMotorKp(uint8_t id,float Kp) |
b0ssiz | 0:fc963e08d580 | 139 | { |
b0ssiz | 4:9fbe67ca2f1b | 140 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 4:9fbe67ca2f1b | 141 | FloatSep(Kp,IntKp,FloatKp); |
b0ssiz | 4:9fbe67ca2f1b | 142 | |
b0ssiz | 0:fc963e08d580 | 143 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 144 | |
b0ssiz | 0:fc963e08d580 | 145 | package.robotId = id; |
b0ssiz | 4:9fbe67ca2f1b | 146 | package.length = 7; |
b0ssiz | 0:fc963e08d580 | 147 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 148 | package.parameter[0]=KP_UPPER_MOTOR; |
b0ssiz | 4:9fbe67ca2f1b | 149 | package.parameter[1]=IntKp[0]; |
b0ssiz | 4:9fbe67ca2f1b | 150 | package.parameter[2]=IntKp[1]; |
b0ssiz | 4:9fbe67ca2f1b | 151 | package.parameter[3]=FloatKp[0]; |
b0ssiz | 4:9fbe67ca2f1b | 152 | package.parameter[4]=FloatKp[1]; |
b0ssiz | 0:fc963e08d580 | 153 | |
b0ssiz | 0:fc963e08d580 | 154 | |
b0ssiz | 0:fc963e08d580 | 155 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 156 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 157 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 158 | } |
b0ssiz | 0:fc963e08d580 | 159 | |
b0ssiz | 0:fc963e08d580 | 160 | |
b0ssiz | 0:fc963e08d580 | 161 | |
b0ssiz | 5:6f30b4ea4020 | 162 | |
b0ssiz | 5:6f30b4ea4020 | 163 | uint8_t Bear_Communicate::setLowMotorKp(uint8_t id,float Kp) |
b0ssiz | 5:6f30b4ea4020 | 164 | { |
b0ssiz | 5:6f30b4ea4020 | 165 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 5:6f30b4ea4020 | 166 | FloatSep(Kp,IntKp,FloatKp); |
b0ssiz | 5:6f30b4ea4020 | 167 | |
b0ssiz | 5:6f30b4ea4020 | 168 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:6f30b4ea4020 | 169 | |
b0ssiz | 5:6f30b4ea4020 | 170 | package.robotId = id; |
b0ssiz | 5:6f30b4ea4020 | 171 | package.length = 7; |
b0ssiz | 5:6f30b4ea4020 | 172 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 173 | package.parameter[0]=KP_LOWER_MOTOR; |
b0ssiz | 5:6f30b4ea4020 | 174 | package.parameter[1]=IntKp[0]; |
b0ssiz | 5:6f30b4ea4020 | 175 | package.parameter[2]=IntKp[1]; |
b0ssiz | 5:6f30b4ea4020 | 176 | package.parameter[3]=FloatKp[0]; |
b0ssiz | 5:6f30b4ea4020 | 177 | package.parameter[4]=FloatKp[1]; |
b0ssiz | 5:6f30b4ea4020 | 178 | |
b0ssiz | 5:6f30b4ea4020 | 179 | |
b0ssiz | 5:6f30b4ea4020 | 180 | rs485_dirc=1; |
b0ssiz | 5:6f30b4ea4020 | 181 | wait_us(RS485_DELAY); |
b0ssiz | 5:6f30b4ea4020 | 182 | return com->sendCommunicatePacket(&package); |
b0ssiz | 5:6f30b4ea4020 | 183 | } |
b0ssiz | 5:6f30b4ea4020 | 184 | |
b0ssiz | 5:6f30b4ea4020 | 185 | |
b0ssiz | 5:6f30b4ea4020 | 186 | |
b0ssiz | 5:6f30b4ea4020 | 187 | |
b0ssiz | 5:6f30b4ea4020 | 188 | uint8_t Bear_Communicate::setUpMotorKi(uint8_t id,float Ki) |
b0ssiz | 0:fc963e08d580 | 189 | { |
b0ssiz | 4:9fbe67ca2f1b | 190 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 4:9fbe67ca2f1b | 191 | FloatSep(Ki,IntKi,FloatKi); |
b0ssiz | 4:9fbe67ca2f1b | 192 | |
b0ssiz | 0:fc963e08d580 | 193 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 194 | |
b0ssiz | 0:fc963e08d580 | 195 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 196 | package.length = 7; |
b0ssiz | 0:fc963e08d580 | 197 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 198 | package.parameter[0]=KI_UPPER_MOTOR; |
b0ssiz | 4:9fbe67ca2f1b | 199 | package.parameter[1]=IntKi[0]; |
b0ssiz | 4:9fbe67ca2f1b | 200 | package.parameter[2]=IntKi[1]; |
b0ssiz | 4:9fbe67ca2f1b | 201 | package.parameter[3]=FloatKi[0]; |
b0ssiz | 4:9fbe67ca2f1b | 202 | package.parameter[4]=FloatKi[1]; |
b0ssiz | 4:9fbe67ca2f1b | 203 | |
b0ssiz | 4:9fbe67ca2f1b | 204 | |
b0ssiz | 4:9fbe67ca2f1b | 205 | rs485_dirc=1; |
b0ssiz | 4:9fbe67ca2f1b | 206 | wait_us(RS485_DELAY); |
b0ssiz | 4:9fbe67ca2f1b | 207 | return com->sendCommunicatePacket(&package); |
b0ssiz | 4:9fbe67ca2f1b | 208 | |
b0ssiz | 4:9fbe67ca2f1b | 209 | } |
b0ssiz | 4:9fbe67ca2f1b | 210 | |
b0ssiz | 4:9fbe67ca2f1b | 211 | |
b0ssiz | 4:9fbe67ca2f1b | 212 | |
b0ssiz | 5:6f30b4ea4020 | 213 | |
b0ssiz | 5:6f30b4ea4020 | 214 | uint8_t Bear_Communicate::setLowMotorKi(uint8_t id,float Ki) |
b0ssiz | 5:6f30b4ea4020 | 215 | { |
b0ssiz | 5:6f30b4ea4020 | 216 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 5:6f30b4ea4020 | 217 | FloatSep(Ki,IntKi,FloatKi); |
b0ssiz | 5:6f30b4ea4020 | 218 | |
b0ssiz | 5:6f30b4ea4020 | 219 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:6f30b4ea4020 | 220 | |
b0ssiz | 5:6f30b4ea4020 | 221 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 222 | package.length = 7; |
b0ssiz | 5:6f30b4ea4020 | 223 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 224 | package.parameter[0]=KI_LOWER_MOTOR; |
b0ssiz | 5:6f30b4ea4020 | 225 | package.parameter[1]=IntKi[0]; |
b0ssiz | 5:6f30b4ea4020 | 226 | package.parameter[2]=IntKi[1]; |
b0ssiz | 5:6f30b4ea4020 | 227 | package.parameter[3]=FloatKi[0]; |
b0ssiz | 5:6f30b4ea4020 | 228 | package.parameter[4]=FloatKi[1]; |
b0ssiz | 5:6f30b4ea4020 | 229 | |
b0ssiz | 5:6f30b4ea4020 | 230 | |
b0ssiz | 5:6f30b4ea4020 | 231 | |
b0ssiz | 5:6f30b4ea4020 | 232 | rs485_dirc=1; |
b0ssiz | 5:6f30b4ea4020 | 233 | wait_us(RS485_DELAY); |
b0ssiz | 5:6f30b4ea4020 | 234 | return com->sendCommunicatePacket(&package); |
b0ssiz | 5:6f30b4ea4020 | 235 | |
b0ssiz | 5:6f30b4ea4020 | 236 | } |
b0ssiz | 5:6f30b4ea4020 | 237 | |
b0ssiz | 5:6f30b4ea4020 | 238 | |
b0ssiz | 5:6f30b4ea4020 | 239 | |
b0ssiz | 5:6f30b4ea4020 | 240 | uint8_t Bear_Communicate::setUpMotorKd(uint8_t id,float Kd) |
b0ssiz | 4:9fbe67ca2f1b | 241 | { |
b0ssiz | 4:9fbe67ca2f1b | 242 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 4:9fbe67ca2f1b | 243 | FloatSep(Kd,IntKd,FloatKd); |
b0ssiz | 4:9fbe67ca2f1b | 244 | |
b0ssiz | 4:9fbe67ca2f1b | 245 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 4:9fbe67ca2f1b | 246 | |
b0ssiz | 4:9fbe67ca2f1b | 247 | package.robotId = id; |
b0ssiz | 4:9fbe67ca2f1b | 248 | package.length = 7; |
b0ssiz | 4:9fbe67ca2f1b | 249 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 250 | package.parameter[0]=KD_UPPER_MOTOR; |
b0ssiz | 4:9fbe67ca2f1b | 251 | package.parameter[1]=IntKd[0]; |
b0ssiz | 4:9fbe67ca2f1b | 252 | package.parameter[2]=IntKd[1]; |
b0ssiz | 4:9fbe67ca2f1b | 253 | package.parameter[3]=FloatKd[0]; |
b0ssiz | 4:9fbe67ca2f1b | 254 | package.parameter[4]=FloatKd[1]; |
b0ssiz | 0:fc963e08d580 | 255 | |
b0ssiz | 0:fc963e08d580 | 256 | |
b0ssiz | 0:fc963e08d580 | 257 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 258 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 259 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 260 | } |
b0ssiz | 0:fc963e08d580 | 261 | |
b0ssiz | 0:fc963e08d580 | 262 | |
b0ssiz | 0:fc963e08d580 | 263 | |
b0ssiz | 5:6f30b4ea4020 | 264 | uint8_t Bear_Communicate::setLowMotorKd(uint8_t id,float Kd) |
b0ssiz | 5:6f30b4ea4020 | 265 | { |
b0ssiz | 5:6f30b4ea4020 | 266 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 5:6f30b4ea4020 | 267 | FloatSep(Kd,IntKd,FloatKd); |
b0ssiz | 5:6f30b4ea4020 | 268 | |
b0ssiz | 5:6f30b4ea4020 | 269 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:6f30b4ea4020 | 270 | |
b0ssiz | 5:6f30b4ea4020 | 271 | package.robotId = id; |
b0ssiz | 5:6f30b4ea4020 | 272 | package.length = 7; |
b0ssiz | 5:6f30b4ea4020 | 273 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 274 | package.parameter[0]=KD_LOWER_MOTOR; |
b0ssiz | 5:6f30b4ea4020 | 275 | package.parameter[1]=IntKd[0]; |
b0ssiz | 5:6f30b4ea4020 | 276 | package.parameter[2]=IntKd[1]; |
b0ssiz | 5:6f30b4ea4020 | 277 | package.parameter[3]=FloatKd[0]; |
b0ssiz | 5:6f30b4ea4020 | 278 | package.parameter[4]=FloatKd[1]; |
b0ssiz | 5:6f30b4ea4020 | 279 | |
b0ssiz | 5:6f30b4ea4020 | 280 | |
b0ssiz | 5:6f30b4ea4020 | 281 | rs485_dirc=1; |
b0ssiz | 5:6f30b4ea4020 | 282 | wait_us(RS485_DELAY); |
b0ssiz | 5:6f30b4ea4020 | 283 | return com->sendCommunicatePacket(&package); |
b0ssiz | 5:6f30b4ea4020 | 284 | } |
b0ssiz | 5:6f30b4ea4020 | 285 | |
b0ssiz | 5:6f30b4ea4020 | 286 | |
b0ssiz | 5:6f30b4ea4020 | 287 | |
b0ssiz | 5:6f30b4ea4020 | 288 | uint8_t Bear_Communicate::getUpMotorKpKiKd(uint8_t id,float *Kp,float *Ki,float *Kd) |
b0ssiz | 0:fc963e08d580 | 289 | { |
b0ssiz | 4:9fbe67ca2f1b | 290 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 4:9fbe67ca2f1b | 291 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 4:9fbe67ca2f1b | 292 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 4:9fbe67ca2f1b | 293 | float int_buffer,float_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 294 | |
b0ssiz | 0:fc963e08d580 | 295 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 296 | |
b0ssiz | 0:fc963e08d580 | 297 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 298 | package.length = 3; |
b0ssiz | 0:fc963e08d580 | 299 | package.instructionErrorId = READ_DATA; |
b0ssiz | 7:ce4234c56410 | 300 | package.parameter[0]=PID_UPPER_MOTOR; |
b0ssiz | 0:fc963e08d580 | 301 | |
b0ssiz | 0:fc963e08d580 | 302 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 303 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 304 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 305 | |
b0ssiz | 0:fc963e08d580 | 306 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 307 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 308 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 309 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 4:9fbe67ca2f1b | 310 | IntKp[0]=package.parameter[0]; |
b0ssiz | 4:9fbe67ca2f1b | 311 | IntKp[1]=package.parameter[1]; |
b0ssiz | 4:9fbe67ca2f1b | 312 | FloatKp[0]=package.parameter[2]; |
b0ssiz | 4:9fbe67ca2f1b | 313 | FloatKp[1]=package.parameter[3]; |
b0ssiz | 4:9fbe67ca2f1b | 314 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKp); |
b0ssiz | 4:9fbe67ca2f1b | 315 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKp)/FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 316 | *Kp=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 317 | |
b0ssiz | 4:9fbe67ca2f1b | 318 | IntKi[0]=package.parameter[4]; |
b0ssiz | 4:9fbe67ca2f1b | 319 | IntKi[1]=package.parameter[5]; |
b0ssiz | 4:9fbe67ca2f1b | 320 | FloatKi[0]=package.parameter[6]; |
b0ssiz | 4:9fbe67ca2f1b | 321 | FloatKi[1]=package.parameter[7]; |
b0ssiz | 4:9fbe67ca2f1b | 322 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKi); |
b0ssiz | 4:9fbe67ca2f1b | 323 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKi)/FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 324 | *Ki=int_buffer+float_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 325 | |
b0ssiz | 4:9fbe67ca2f1b | 326 | IntKi[0]=package.parameter[8]; |
b0ssiz | 4:9fbe67ca2f1b | 327 | IntKi[1]=package.parameter[9]; |
b0ssiz | 4:9fbe67ca2f1b | 328 | FloatKi[0]=package.parameter[10]; |
b0ssiz | 4:9fbe67ca2f1b | 329 | FloatKi[1]=package.parameter[11]; |
b0ssiz | 4:9fbe67ca2f1b | 330 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKd); |
b0ssiz | 4:9fbe67ca2f1b | 331 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKd)/FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 332 | *Kd=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 333 | } |
b0ssiz | 0:fc963e08d580 | 334 | return status; |
b0ssiz | 0:fc963e08d580 | 335 | } |
b0ssiz | 0:fc963e08d580 | 336 | |
b0ssiz | 0:fc963e08d580 | 337 | |
b0ssiz | 5:6f30b4ea4020 | 338 | uint8_t Bear_Communicate::getLowMotorKpKiKd(uint8_t id,float *Kp,float *Ki,float *Kd) |
b0ssiz | 5:6f30b4ea4020 | 339 | { |
b0ssiz | 5:6f30b4ea4020 | 340 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 5:6f30b4ea4020 | 341 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 5:6f30b4ea4020 | 342 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 5:6f30b4ea4020 | 343 | float int_buffer,float_buffer; |
b0ssiz | 5:6f30b4ea4020 | 344 | |
b0ssiz | 5:6f30b4ea4020 | 345 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:6f30b4ea4020 | 346 | |
b0ssiz | 5:6f30b4ea4020 | 347 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 348 | package.length = 3; |
b0ssiz | 5:6f30b4ea4020 | 349 | package.instructionErrorId = READ_DATA; |
b0ssiz | 7:ce4234c56410 | 350 | package.parameter[0]=PID_LOWER_MOTOR; |
b0ssiz | 5:6f30b4ea4020 | 351 | |
b0ssiz | 5:6f30b4ea4020 | 352 | rs485_dirc=1; |
b0ssiz | 5:6f30b4ea4020 | 353 | wait_us(RS485_DELAY); |
b0ssiz | 5:6f30b4ea4020 | 354 | com->sendCommunicatePacket(&package); |
b0ssiz | 5:6f30b4ea4020 | 355 | |
b0ssiz | 5:6f30b4ea4020 | 356 | rs485_dirc=0; |
b0ssiz | 5:6f30b4ea4020 | 357 | wait_us(RS485_DELAY); |
b0ssiz | 5:6f30b4ea4020 | 358 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 5:6f30b4ea4020 | 359 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 5:6f30b4ea4020 | 360 | IntKp[0]=package.parameter[0]; |
b0ssiz | 5:6f30b4ea4020 | 361 | IntKp[1]=package.parameter[1]; |
b0ssiz | 5:6f30b4ea4020 | 362 | FloatKp[0]=package.parameter[2]; |
b0ssiz | 5:6f30b4ea4020 | 363 | FloatKp[1]=package.parameter[3]; |
b0ssiz | 5:6f30b4ea4020 | 364 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKp); |
b0ssiz | 5:6f30b4ea4020 | 365 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKp)/FLOAT_CONVERTER; |
b0ssiz | 5:6f30b4ea4020 | 366 | *Kp=int_buffer+float_buffer; |
b0ssiz | 5:6f30b4ea4020 | 367 | |
b0ssiz | 5:6f30b4ea4020 | 368 | IntKi[0]=package.parameter[4]; |
b0ssiz | 5:6f30b4ea4020 | 369 | IntKi[1]=package.parameter[5]; |
b0ssiz | 5:6f30b4ea4020 | 370 | FloatKi[0]=package.parameter[6]; |
b0ssiz | 5:6f30b4ea4020 | 371 | FloatKi[1]=package.parameter[7]; |
b0ssiz | 5:6f30b4ea4020 | 372 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKi); |
b0ssiz | 5:6f30b4ea4020 | 373 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKi)/FLOAT_CONVERTER; |
b0ssiz | 5:6f30b4ea4020 | 374 | *Ki=int_buffer+float_buffer; |
b0ssiz | 5:6f30b4ea4020 | 375 | |
b0ssiz | 5:6f30b4ea4020 | 376 | IntKi[0]=package.parameter[8]; |
b0ssiz | 5:6f30b4ea4020 | 377 | IntKi[1]=package.parameter[9]; |
b0ssiz | 5:6f30b4ea4020 | 378 | FloatKi[0]=package.parameter[10]; |
b0ssiz | 5:6f30b4ea4020 | 379 | FloatKi[1]=package.parameter[11]; |
b0ssiz | 5:6f30b4ea4020 | 380 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKd); |
b0ssiz | 5:6f30b4ea4020 | 381 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKd)/FLOAT_CONVERTER; |
b0ssiz | 5:6f30b4ea4020 | 382 | *Kd=int_buffer+float_buffer; |
b0ssiz | 5:6f30b4ea4020 | 383 | } |
b0ssiz | 5:6f30b4ea4020 | 384 | return status; |
b0ssiz | 5:6f30b4ea4020 | 385 | } |
b0ssiz | 5:6f30b4ea4020 | 386 | |
b0ssiz | 5:6f30b4ea4020 | 387 | |
b0ssiz | 5:6f30b4ea4020 | 388 | |
b0ssiz | 0:fc963e08d580 | 389 | |
b0ssiz | 0:fc963e08d580 | 390 | ///////////////////////////////////////////// Save Data to EEPROM \\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\ |
b0ssiz | 0:fc963e08d580 | 391 | |
b0ssiz | 0:fc963e08d580 | 392 | |
b0ssiz | 8:e1f43b1df0b5 | 393 | uint8_t Bear_Communicate::setUpMargin(uint8_t id,float margin) |
b0ssiz | 0:fc963e08d580 | 394 | { |
b0ssiz | 7:ce4234c56410 | 395 | uint8_t IntMargin[2],FloatMargin[2]; |
b0ssiz | 7:ce4234c56410 | 396 | FloatSep(margin,IntMargin,FloatMargin); |
b0ssiz | 7:ce4234c56410 | 397 | |
b0ssiz | 0:fc963e08d580 | 398 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 399 | |
b0ssiz | 0:fc963e08d580 | 400 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 401 | package.length = 7; |
b0ssiz | 0:fc963e08d580 | 402 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:e1f43b1df0b5 | 403 | package.parameter[0]=UP_MARGIN; |
b0ssiz | 8:e1f43b1df0b5 | 404 | package.parameter[1]=IntMargin[0]; |
b0ssiz | 8:e1f43b1df0b5 | 405 | package.parameter[2]=IntMargin[1]; |
b0ssiz | 8:e1f43b1df0b5 | 406 | package.parameter[3]=FloatMargin[0]; |
b0ssiz | 8:e1f43b1df0b5 | 407 | package.parameter[4]=FloatMargin[1]; |
b0ssiz | 8:e1f43b1df0b5 | 408 | |
b0ssiz | 8:e1f43b1df0b5 | 409 | rs485_dirc=1; |
b0ssiz | 8:e1f43b1df0b5 | 410 | wait_us(RS485_DELAY); |
b0ssiz | 8:e1f43b1df0b5 | 411 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:e1f43b1df0b5 | 412 | } |
b0ssiz | 8:e1f43b1df0b5 | 413 | |
b0ssiz | 8:e1f43b1df0b5 | 414 | |
b0ssiz | 8:e1f43b1df0b5 | 415 | uint8_t Bear_Communicate::setLowMargin(uint8_t id,float margin) |
b0ssiz | 8:e1f43b1df0b5 | 416 | { |
b0ssiz | 8:e1f43b1df0b5 | 417 | uint8_t IntMargin[2],FloatMargin[2]; |
b0ssiz | 8:e1f43b1df0b5 | 418 | FloatSep(margin,IntMargin,FloatMargin); |
b0ssiz | 8:e1f43b1df0b5 | 419 | |
b0ssiz | 8:e1f43b1df0b5 | 420 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:e1f43b1df0b5 | 421 | |
b0ssiz | 8:e1f43b1df0b5 | 422 | package.robotId = id; |
b0ssiz | 8:e1f43b1df0b5 | 423 | package.length = 7; |
b0ssiz | 8:e1f43b1df0b5 | 424 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:e1f43b1df0b5 | 425 | package.parameter[0]=LOW_MARGIN; |
b0ssiz | 7:ce4234c56410 | 426 | package.parameter[1]=IntMargin[0]; |
b0ssiz | 7:ce4234c56410 | 427 | package.parameter[2]=IntMargin[1]; |
b0ssiz | 7:ce4234c56410 | 428 | package.parameter[3]=FloatMargin[0]; |
b0ssiz | 7:ce4234c56410 | 429 | package.parameter[4]=FloatMargin[1]; |
b0ssiz | 0:fc963e08d580 | 430 | |
b0ssiz | 0:fc963e08d580 | 431 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 432 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 433 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 434 | } |
b0ssiz | 0:fc963e08d580 | 435 | |
b0ssiz | 0:fc963e08d580 | 436 | |
b0ssiz | 0:fc963e08d580 | 437 | |
b0ssiz | 8:e1f43b1df0b5 | 438 | uint8_t Bear_Communicate::getUpMargin(uint8_t id,float *margin) |
b0ssiz | 0:fc963e08d580 | 439 | { |
b0ssiz | 7:ce4234c56410 | 440 | uint8_t IntMargin[2],FloatMargin[2]; |
b0ssiz | 7:ce4234c56410 | 441 | float int_buffer,float_buffer; |
b0ssiz | 0:fc963e08d580 | 442 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 443 | |
b0ssiz | 0:fc963e08d580 | 444 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 445 | package.length = 3; |
b0ssiz | 0:fc963e08d580 | 446 | package.instructionErrorId = READ_DATA; |
b0ssiz | 8:e1f43b1df0b5 | 447 | package.parameter[0]=UP_MARGIN; |
b0ssiz | 8:e1f43b1df0b5 | 448 | |
b0ssiz | 8:e1f43b1df0b5 | 449 | |
b0ssiz | 8:e1f43b1df0b5 | 450 | rs485_dirc=1; |
b0ssiz | 8:e1f43b1df0b5 | 451 | wait_us(RS485_DELAY); |
b0ssiz | 8:e1f43b1df0b5 | 452 | com->sendCommunicatePacket(&package); |
b0ssiz | 8:e1f43b1df0b5 | 453 | |
b0ssiz | 8:e1f43b1df0b5 | 454 | rs485_dirc=0; |
b0ssiz | 8:e1f43b1df0b5 | 455 | wait_us(RS485_DELAY); |
b0ssiz | 8:e1f43b1df0b5 | 456 | uint8_t status=com->receiveCommunicatePacket(&package); |
b0ssiz | 8:e1f43b1df0b5 | 457 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 8:e1f43b1df0b5 | 458 | IntMargin[0]=package.parameter[0]; |
b0ssiz | 8:e1f43b1df0b5 | 459 | IntMargin[1]=package.parameter[1]; |
b0ssiz | 8:e1f43b1df0b5 | 460 | FloatMargin[0]=package.parameter[2]; |
b0ssiz | 8:e1f43b1df0b5 | 461 | FloatMargin[1]=package.parameter[3]; |
b0ssiz | 8:e1f43b1df0b5 | 462 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntMargin); |
b0ssiz | 8:e1f43b1df0b5 | 463 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatMargin)/FLOAT_CONVERTER; |
b0ssiz | 8:e1f43b1df0b5 | 464 | *margin=int_buffer+float_buffer; |
b0ssiz | 8:e1f43b1df0b5 | 465 | } |
b0ssiz | 8:e1f43b1df0b5 | 466 | return status; |
b0ssiz | 8:e1f43b1df0b5 | 467 | } |
b0ssiz | 8:e1f43b1df0b5 | 468 | |
b0ssiz | 8:e1f43b1df0b5 | 469 | |
b0ssiz | 8:e1f43b1df0b5 | 470 | |
b0ssiz | 8:e1f43b1df0b5 | 471 | uint8_t Bear_Communicate::getLowMargin(uint8_t id,float *margin) |
b0ssiz | 8:e1f43b1df0b5 | 472 | { |
b0ssiz | 8:e1f43b1df0b5 | 473 | uint8_t IntMargin[2],FloatMargin[2]; |
b0ssiz | 8:e1f43b1df0b5 | 474 | float int_buffer,float_buffer; |
b0ssiz | 8:e1f43b1df0b5 | 475 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:e1f43b1df0b5 | 476 | |
b0ssiz | 8:e1f43b1df0b5 | 477 | package.robotId = id; |
b0ssiz | 8:e1f43b1df0b5 | 478 | package.length = 3; |
b0ssiz | 8:e1f43b1df0b5 | 479 | package.instructionErrorId = READ_DATA; |
b0ssiz | 8:e1f43b1df0b5 | 480 | package.parameter[0]=LOW_MARGIN; |
b0ssiz | 0:fc963e08d580 | 481 | |
b0ssiz | 0:fc963e08d580 | 482 | |
b0ssiz | 0:fc963e08d580 | 483 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 484 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 485 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 486 | |
b0ssiz | 0:fc963e08d580 | 487 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 488 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 489 | uint8_t status=com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 490 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 7:ce4234c56410 | 491 | IntMargin[0]=package.parameter[0]; |
b0ssiz | 7:ce4234c56410 | 492 | IntMargin[1]=package.parameter[1]; |
b0ssiz | 7:ce4234c56410 | 493 | FloatMargin[0]=package.parameter[2]; |
b0ssiz | 7:ce4234c56410 | 494 | FloatMargin[1]=package.parameter[3]; |
b0ssiz | 7:ce4234c56410 | 495 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntMargin); |
b0ssiz | 7:ce4234c56410 | 496 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatMargin)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 497 | *margin=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 498 | } |
b0ssiz | 0:fc963e08d580 | 499 | return status; |
b0ssiz | 0:fc963e08d580 | 500 | } |
b0ssiz | 0:fc963e08d580 | 501 | |
b0ssiz | 0:fc963e08d580 | 502 | |
b0ssiz | 0:fc963e08d580 | 503 | |
b0ssiz | 4:9fbe67ca2f1b | 504 | uint8_t Bear_Communicate::setHeight(uint8_t id,float height) |
b0ssiz | 0:fc963e08d580 | 505 | { |
b0ssiz | 7:ce4234c56410 | 506 | uint8_t IntHeight[2],FloatHeight[2]; |
b0ssiz | 7:ce4234c56410 | 507 | FloatSep(height,IntHeight,FloatHeight); |
b0ssiz | 7:ce4234c56410 | 508 | |
b0ssiz | 0:fc963e08d580 | 509 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 510 | |
b0ssiz | 0:fc963e08d580 | 511 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 512 | package.length = 7; |
b0ssiz | 0:fc963e08d580 | 513 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 514 | package.parameter[0]=HEIGHT; |
b0ssiz | 7:ce4234c56410 | 515 | package.parameter[1]=IntHeight[0]; |
b0ssiz | 7:ce4234c56410 | 516 | package.parameter[2]=IntHeight[1]; |
b0ssiz | 7:ce4234c56410 | 517 | package.parameter[3]=FloatHeight[0]; |
b0ssiz | 7:ce4234c56410 | 518 | package.parameter[4]=FloatHeight[1]; |
b0ssiz | 0:fc963e08d580 | 519 | |
b0ssiz | 0:fc963e08d580 | 520 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 521 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 522 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 523 | } |
b0ssiz | 0:fc963e08d580 | 524 | |
b0ssiz | 0:fc963e08d580 | 525 | |
b0ssiz | 0:fc963e08d580 | 526 | |
b0ssiz | 4:9fbe67ca2f1b | 527 | uint8_t Bear_Communicate::getHeight(uint8_t id,float *height) |
b0ssiz | 0:fc963e08d580 | 528 | { |
b0ssiz | 7:ce4234c56410 | 529 | uint8_t IntHeight[2],FloatHeight[2]; |
b0ssiz | 7:ce4234c56410 | 530 | float int_buffer,float_buffer; |
b0ssiz | 7:ce4234c56410 | 531 | |
b0ssiz | 0:fc963e08d580 | 532 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 533 | |
b0ssiz | 0:fc963e08d580 | 534 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 535 | package.length = 3; |
b0ssiz | 0:fc963e08d580 | 536 | package.instructionErrorId = READ_DATA; |
b0ssiz | 7:ce4234c56410 | 537 | package.parameter[0]=HEIGHT; |
b0ssiz | 7:ce4234c56410 | 538 | |
b0ssiz | 0:fc963e08d580 | 539 | |
b0ssiz | 0:fc963e08d580 | 540 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 541 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 542 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 543 | |
b0ssiz | 0:fc963e08d580 | 544 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 545 | wait_us(RS485_DELAY); |
b0ssiz | 7:ce4234c56410 | 546 | uint8_t status=com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 547 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 7:ce4234c56410 | 548 | IntHeight[0]=package.parameter[0]; |
b0ssiz | 7:ce4234c56410 | 549 | IntHeight[1]=package.parameter[1]; |
b0ssiz | 7:ce4234c56410 | 550 | FloatHeight[0]=package.parameter[2]; |
b0ssiz | 7:ce4234c56410 | 551 | FloatHeight[1]=package.parameter[3]; |
b0ssiz | 7:ce4234c56410 | 552 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntHeight); |
b0ssiz | 7:ce4234c56410 | 553 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatHeight)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 554 | *height=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 555 | } |
b0ssiz | 0:fc963e08d580 | 556 | return status; |
b0ssiz | 0:fc963e08d580 | 557 | } |
b0ssiz | 0:fc963e08d580 | 558 | |
b0ssiz | 0:fc963e08d580 | 559 | |
b0ssiz | 0:fc963e08d580 | 560 | |
b0ssiz | 4:9fbe67ca2f1b | 561 | uint8_t Bear_Communicate::setWheelPos(uint8_t id,float WheelPos) |
b0ssiz | 0:fc963e08d580 | 562 | { |
b0ssiz | 7:ce4234c56410 | 563 | uint8_t IntWheelPos[2],FloatWheelPos[2]; |
b0ssiz | 7:ce4234c56410 | 564 | FloatSep(WheelPos,IntWheelPos,FloatWheelPos); |
b0ssiz | 7:ce4234c56410 | 565 | |
b0ssiz | 0:fc963e08d580 | 566 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 567 | |
b0ssiz | 0:fc963e08d580 | 568 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 569 | package.length = 7; |
b0ssiz | 0:fc963e08d580 | 570 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 571 | package.parameter[0]=WHEELPOS; |
b0ssiz | 7:ce4234c56410 | 572 | package.parameter[1]=IntWheelPos[0]; |
b0ssiz | 7:ce4234c56410 | 573 | package.parameter[2]=IntWheelPos[1]; |
b0ssiz | 7:ce4234c56410 | 574 | package.parameter[3]=FloatWheelPos[0]; |
b0ssiz | 7:ce4234c56410 | 575 | package.parameter[4]=FloatWheelPos[1]; |
b0ssiz | 0:fc963e08d580 | 576 | |
b0ssiz | 0:fc963e08d580 | 577 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 578 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 579 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 580 | } |
b0ssiz | 0:fc963e08d580 | 581 | |
b0ssiz | 0:fc963e08d580 | 582 | |
b0ssiz | 0:fc963e08d580 | 583 | |
b0ssiz | 4:9fbe67ca2f1b | 584 | uint8_t Bear_Communicate::getWheelPos(uint8_t id,float *WheelPos) |
b0ssiz | 0:fc963e08d580 | 585 | { |
b0ssiz | 7:ce4234c56410 | 586 | uint8_t IntWheelPos[2],FloatWheelPos[2]; |
b0ssiz | 7:ce4234c56410 | 587 | float int_buffer,float_buffer; |
b0ssiz | 7:ce4234c56410 | 588 | |
b0ssiz | 7:ce4234c56410 | 589 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 7:ce4234c56410 | 590 | |
b0ssiz | 7:ce4234c56410 | 591 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 592 | package.length = 3; |
b0ssiz | 7:ce4234c56410 | 593 | package.instructionErrorId = READ_DATA; |
b0ssiz | 7:ce4234c56410 | 594 | package.parameter[0]=WHEELPOS; |
b0ssiz | 7:ce4234c56410 | 595 | |
b0ssiz | 7:ce4234c56410 | 596 | |
b0ssiz | 7:ce4234c56410 | 597 | rs485_dirc=1; |
b0ssiz | 7:ce4234c56410 | 598 | wait_us(RS485_DELAY); |
b0ssiz | 7:ce4234c56410 | 599 | com->sendCommunicatePacket(&package); |
b0ssiz | 7:ce4234c56410 | 600 | |
b0ssiz | 7:ce4234c56410 | 601 | rs485_dirc=0; |
b0ssiz | 7:ce4234c56410 | 602 | wait_us(RS485_DELAY); |
b0ssiz | 7:ce4234c56410 | 603 | uint8_t status=com->receiveCommunicatePacket(&package); |
b0ssiz | 7:ce4234c56410 | 604 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 7:ce4234c56410 | 605 | IntWheelPos[0]=package.parameter[0]; |
b0ssiz | 7:ce4234c56410 | 606 | IntWheelPos[1]=package.parameter[1]; |
b0ssiz | 7:ce4234c56410 | 607 | FloatWheelPos[0]=package.parameter[2]; |
b0ssiz | 7:ce4234c56410 | 608 | FloatWheelPos[1]=package.parameter[3]; |
b0ssiz | 7:ce4234c56410 | 609 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntWheelPos); |
b0ssiz | 7:ce4234c56410 | 610 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatWheelPos)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 611 | *WheelPos=int_buffer+float_buffer; |
b0ssiz | 7:ce4234c56410 | 612 | } |
b0ssiz | 7:ce4234c56410 | 613 | return status; |
b0ssiz | 7:ce4234c56410 | 614 | } |
b0ssiz | 7:ce4234c56410 | 615 | |
b0ssiz | 7:ce4234c56410 | 616 | uint8_t Bear_Communicate::setMagData(uint8_t id,float x_max,float x_min,float y_max,float y_min,float z_max,float z_min) |
b0ssiz | 7:ce4234c56410 | 617 | { |
b0ssiz | 7:ce4234c56410 | 618 | uint8_t IntXmax[2],FloatXmax[2]; |
b0ssiz | 7:ce4234c56410 | 619 | uint8_t IntXmin[2],FloatXmin[2]; |
b0ssiz | 7:ce4234c56410 | 620 | uint8_t IntYmax[2],FloatYmax[2]; |
b0ssiz | 7:ce4234c56410 | 621 | uint8_t IntYmin[2],FloatYmin[2]; |
b0ssiz | 7:ce4234c56410 | 622 | uint8_t IntZmax[2],FloatZmax[2]; |
b0ssiz | 7:ce4234c56410 | 623 | uint8_t IntZmin[2],FloatZmin[2]; |
b0ssiz | 7:ce4234c56410 | 624 | FloatSep(x_max,IntXmax,FloatXmax); |
b0ssiz | 7:ce4234c56410 | 625 | FloatSep(x_min,IntXmin,FloatXmin); |
b0ssiz | 7:ce4234c56410 | 626 | FloatSep(y_max,IntYmax,FloatYmax); |
b0ssiz | 7:ce4234c56410 | 627 | FloatSep(y_min,IntYmin,FloatYmin); |
b0ssiz | 7:ce4234c56410 | 628 | FloatSep(z_max,IntZmax,FloatZmax); |
b0ssiz | 7:ce4234c56410 | 629 | FloatSep(z_min,IntZmin,FloatZmin); |
b0ssiz | 7:ce4234c56410 | 630 | |
b0ssiz | 0:fc963e08d580 | 631 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 632 | |
b0ssiz | 0:fc963e08d580 | 633 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 634 | package.length = 27; |
b0ssiz | 7:ce4234c56410 | 635 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 636 | package.parameter[0]=MOTOR_UPPER_ANG; |
b0ssiz | 7:ce4234c56410 | 637 | package.parameter[1]=IntXmax[0]; |
b0ssiz | 7:ce4234c56410 | 638 | package.parameter[2]=IntXmax[1]; |
b0ssiz | 7:ce4234c56410 | 639 | package.parameter[3]=FloatXmax[0]; |
b0ssiz | 7:ce4234c56410 | 640 | package.parameter[4]=FloatXmax[1]; |
b0ssiz | 7:ce4234c56410 | 641 | package.parameter[5]=IntXmin[0]; |
b0ssiz | 7:ce4234c56410 | 642 | package.parameter[6]=IntXmin[1]; |
b0ssiz | 7:ce4234c56410 | 643 | package.parameter[7]=FloatXmin[0]; |
b0ssiz | 7:ce4234c56410 | 644 | package.parameter[8]=FloatXmin[1]; |
b0ssiz | 7:ce4234c56410 | 645 | package.parameter[9]=IntYmax[0]; |
b0ssiz | 7:ce4234c56410 | 646 | package.parameter[10]=IntYmax[1]; |
b0ssiz | 7:ce4234c56410 | 647 | package.parameter[11]=FloatYmax[0]; |
b0ssiz | 7:ce4234c56410 | 648 | package.parameter[12]=FloatYmax[1]; |
b0ssiz | 7:ce4234c56410 | 649 | package.parameter[13]=IntYmin[0]; |
b0ssiz | 7:ce4234c56410 | 650 | package.parameter[14]=IntYmin[1]; |
b0ssiz | 7:ce4234c56410 | 651 | package.parameter[15]=FloatYmin[0]; |
b0ssiz | 7:ce4234c56410 | 652 | package.parameter[16]=FloatYmin[1]; |
b0ssiz | 7:ce4234c56410 | 653 | package.parameter[17]=IntZmax[0]; |
b0ssiz | 7:ce4234c56410 | 654 | package.parameter[18]=IntZmax[1]; |
b0ssiz | 7:ce4234c56410 | 655 | package.parameter[19]=FloatZmax[0]; |
b0ssiz | 7:ce4234c56410 | 656 | package.parameter[20]=FloatZmax[1]; |
b0ssiz | 7:ce4234c56410 | 657 | package.parameter[21]=IntZmin[0]; |
b0ssiz | 7:ce4234c56410 | 658 | package.parameter[22]=IntZmin[1]; |
b0ssiz | 7:ce4234c56410 | 659 | package.parameter[23]=FloatZmin[0]; |
b0ssiz | 7:ce4234c56410 | 660 | package.parameter[24]=FloatZmin[1]; |
b0ssiz | 7:ce4234c56410 | 661 | |
b0ssiz | 7:ce4234c56410 | 662 | rs485_dirc=1; |
b0ssiz | 7:ce4234c56410 | 663 | wait_us(RS485_DELAY); |
b0ssiz | 7:ce4234c56410 | 664 | return com->sendCommunicatePacket(&package); |
b0ssiz | 7:ce4234c56410 | 665 | |
b0ssiz | 7:ce4234c56410 | 666 | } |
b0ssiz | 7:ce4234c56410 | 667 | |
b0ssiz | 7:ce4234c56410 | 668 | uint8_t Bear_Communicate::getMagData(uint8_t id,float *x_max,float *x_min,float *y_max,float *y_min,float *z_max,float *z_min) |
b0ssiz | 7:ce4234c56410 | 669 | { |
b0ssiz | 7:ce4234c56410 | 670 | uint8_t IntXmax[2],FloatXmax[2]; |
b0ssiz | 7:ce4234c56410 | 671 | uint8_t IntXmin[2],FloatXmin[2]; |
b0ssiz | 7:ce4234c56410 | 672 | uint8_t IntYmax[2],FloatYmax[2]; |
b0ssiz | 7:ce4234c56410 | 673 | uint8_t IntYmin[2],FloatYmin[2]; |
b0ssiz | 7:ce4234c56410 | 674 | uint8_t IntZmax[2],FloatZmax[2]; |
b0ssiz | 7:ce4234c56410 | 675 | uint8_t IntZmin[2],FloatZmin[2]; |
b0ssiz | 7:ce4234c56410 | 676 | float int_buffer,float_buffer; |
b0ssiz | 7:ce4234c56410 | 677 | |
b0ssiz | 7:ce4234c56410 | 678 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 7:ce4234c56410 | 679 | |
b0ssiz | 7:ce4234c56410 | 680 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 681 | package.length = 3; |
b0ssiz | 0:fc963e08d580 | 682 | package.instructionErrorId = READ_DATA; |
b0ssiz | 7:ce4234c56410 | 683 | package.parameter[0]=MAG_DATA; |
b0ssiz | 0:fc963e08d580 | 684 | |
b0ssiz | 0:fc963e08d580 | 685 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 686 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 687 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 688 | |
b0ssiz | 0:fc963e08d580 | 689 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 690 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 691 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 692 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 7:ce4234c56410 | 693 | IntXmax[0]=package.parameter[0]; |
b0ssiz | 7:ce4234c56410 | 694 | IntXmax[1]=package.parameter[1]; |
b0ssiz | 7:ce4234c56410 | 695 | FloatXmax[0]=package.parameter[2]; |
b0ssiz | 7:ce4234c56410 | 696 | FloatXmax[1]=package.parameter[3]; |
b0ssiz | 7:ce4234c56410 | 697 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntXmax); |
b0ssiz | 7:ce4234c56410 | 698 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatXmax)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 699 | *x_max=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 700 | |
b0ssiz | 7:ce4234c56410 | 701 | IntXmin[0]=package.parameter[4]; |
b0ssiz | 7:ce4234c56410 | 702 | IntXmin[1]=package.parameter[5]; |
b0ssiz | 7:ce4234c56410 | 703 | FloatXmin[0]=package.parameter[6]; |
b0ssiz | 7:ce4234c56410 | 704 | FloatXmin[1]=package.parameter[7]; |
b0ssiz | 7:ce4234c56410 | 705 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntXmin); |
b0ssiz | 7:ce4234c56410 | 706 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatXmin)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 707 | *x_min=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 708 | |
b0ssiz | 7:ce4234c56410 | 709 | IntYmax[0]=package.parameter[8]; |
b0ssiz | 7:ce4234c56410 | 710 | IntYmax[1]=package.parameter[9]; |
b0ssiz | 7:ce4234c56410 | 711 | FloatYmax[0]=package.parameter[10]; |
b0ssiz | 7:ce4234c56410 | 712 | FloatYmax[1]=package.parameter[11]; |
b0ssiz | 7:ce4234c56410 | 713 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntYmax); |
b0ssiz | 7:ce4234c56410 | 714 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatYmax)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 715 | *y_max=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 716 | |
b0ssiz | 7:ce4234c56410 | 717 | IntYmin[0]=package.parameter[12]; |
b0ssiz | 7:ce4234c56410 | 718 | IntYmin[1]=package.parameter[13]; |
b0ssiz | 7:ce4234c56410 | 719 | FloatYmin[0]=package.parameter[14]; |
b0ssiz | 7:ce4234c56410 | 720 | FloatYmin[1]=package.parameter[15]; |
b0ssiz | 7:ce4234c56410 | 721 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntYmin); |
b0ssiz | 7:ce4234c56410 | 722 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatYmin)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 723 | *y_min=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 724 | |
b0ssiz | 7:ce4234c56410 | 725 | IntZmax[0]=package.parameter[16]; |
b0ssiz | 7:ce4234c56410 | 726 | IntZmax[1]=package.parameter[17]; |
b0ssiz | 7:ce4234c56410 | 727 | FloatZmax[0]=package.parameter[18]; |
b0ssiz | 7:ce4234c56410 | 728 | FloatZmax[1]=package.parameter[19]; |
b0ssiz | 7:ce4234c56410 | 729 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntZmax); |
b0ssiz | 7:ce4234c56410 | 730 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatZmax)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 731 | *z_max=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 732 | |
b0ssiz | 7:ce4234c56410 | 733 | IntZmin[0]=package.parameter[20]; |
b0ssiz | 7:ce4234c56410 | 734 | IntZmin[1]=package.parameter[21]; |
b0ssiz | 7:ce4234c56410 | 735 | FloatZmin[0]=package.parameter[22]; |
b0ssiz | 7:ce4234c56410 | 736 | FloatZmin[1]=package.parameter[23]; |
b0ssiz | 7:ce4234c56410 | 737 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntZmin); |
b0ssiz | 7:ce4234c56410 | 738 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatZmin)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 739 | *z_min=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 740 | |
b0ssiz | 0:fc963e08d580 | 741 | } |
b0ssiz | 0:fc963e08d580 | 742 | return status; |
b0ssiz | 0:fc963e08d580 | 743 | } |
b0ssiz | 0:fc963e08d580 | 744 | |
b0ssiz | 0:fc963e08d580 | 745 | |
b0ssiz | 0:fc963e08d580 | 746 | |
b0ssiz | 4:9fbe67ca2f1b | 747 | uint8_t Bear_Communicate::setOffset(uint8_t id,float offset_y,float offset_z) |
b0ssiz | 0:fc963e08d580 | 748 | { |
b0ssiz | 7:ce4234c56410 | 749 | uint8_t IntOffset_Y[2],FloatOffset_Y[2]; |
b0ssiz | 7:ce4234c56410 | 750 | uint8_t IntOffset_Z[2],FloatOffset_Z[2]; |
b0ssiz | 7:ce4234c56410 | 751 | FloatSep(offset_y,IntOffset_Y,FloatOffset_Y); |
b0ssiz | 7:ce4234c56410 | 752 | FloatSep(offset_z,IntOffset_Z,FloatOffset_Z); |
b0ssiz | 7:ce4234c56410 | 753 | |
b0ssiz | 0:fc963e08d580 | 754 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 755 | |
b0ssiz | 0:fc963e08d580 | 756 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 757 | package.length = 11; |
b0ssiz | 0:fc963e08d580 | 758 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 759 | package.parameter[0]=OFFSET; |
b0ssiz | 7:ce4234c56410 | 760 | package.parameter[1]=IntOffset_Y[0]; |
b0ssiz | 7:ce4234c56410 | 761 | package.parameter[2]=IntOffset_Y[1]; |
b0ssiz | 7:ce4234c56410 | 762 | package.parameter[3]=FloatOffset_Y[0]; |
b0ssiz | 7:ce4234c56410 | 763 | package.parameter[4]=FloatOffset_Y[1]; |
b0ssiz | 7:ce4234c56410 | 764 | package.parameter[5]=IntOffset_Z[0]; |
b0ssiz | 7:ce4234c56410 | 765 | package.parameter[6]=IntOffset_Z[1]; |
b0ssiz | 7:ce4234c56410 | 766 | package.parameter[7]=FloatOffset_Z[0]; |
b0ssiz | 7:ce4234c56410 | 767 | package.parameter[8]=FloatOffset_Z[1]; |
b0ssiz | 0:fc963e08d580 | 768 | |
b0ssiz | 0:fc963e08d580 | 769 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 770 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 771 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 772 | } |
b0ssiz | 0:fc963e08d580 | 773 | |
b0ssiz | 0:fc963e08d580 | 774 | |
b0ssiz | 0:fc963e08d580 | 775 | |
b0ssiz | 4:9fbe67ca2f1b | 776 | uint8_t Bear_Communicate::getOffset(uint8_t id,float *offset_y,float *offset_z) |
b0ssiz | 0:fc963e08d580 | 777 | { |
b0ssiz | 7:ce4234c56410 | 778 | uint8_t IntOffset_Y[2],FloatOffset_Y[2]; |
b0ssiz | 7:ce4234c56410 | 779 | uint8_t IntOffset_Z[2],FloatOffset_Z[2]; |
b0ssiz | 7:ce4234c56410 | 780 | float int_buffer,float_buffer; |
b0ssiz | 7:ce4234c56410 | 781 | |
b0ssiz | 0:fc963e08d580 | 782 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 783 | |
b0ssiz | 0:fc963e08d580 | 784 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 785 | package.length = 3; |
b0ssiz | 0:fc963e08d580 | 786 | package.instructionErrorId = READ_DATA; |
b0ssiz | 7:ce4234c56410 | 787 | package.parameter[0] = OFFSET; |
b0ssiz | 0:fc963e08d580 | 788 | |
b0ssiz | 0:fc963e08d580 | 789 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 790 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 791 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 792 | |
b0ssiz | 0:fc963e08d580 | 793 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 794 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 795 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 796 | |
b0ssiz | 7:ce4234c56410 | 797 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 7:ce4234c56410 | 798 | IntOffset_Y[0]=package.parameter[0]; |
b0ssiz | 7:ce4234c56410 | 799 | IntOffset_Y[1]=package.parameter[1]; |
b0ssiz | 7:ce4234c56410 | 800 | FloatOffset_Y[0]=package.parameter[2]; |
b0ssiz | 7:ce4234c56410 | 801 | FloatOffset_Y[1]=package.parameter[3]; |
b0ssiz | 7:ce4234c56410 | 802 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntOffset_Y); |
b0ssiz | 7:ce4234c56410 | 803 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatOffset_Y)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 804 | *offset_y=int_buffer+float_buffer; |
b0ssiz | 7:ce4234c56410 | 805 | |
b0ssiz | 7:ce4234c56410 | 806 | IntOffset_Z[0]=package.parameter[4]; |
b0ssiz | 7:ce4234c56410 | 807 | IntOffset_Z[1]=package.parameter[5]; |
b0ssiz | 7:ce4234c56410 | 808 | FloatOffset_Z[0]=package.parameter[6]; |
b0ssiz | 7:ce4234c56410 | 809 | FloatOffset_Z[1]=package.parameter[7]; |
b0ssiz | 7:ce4234c56410 | 810 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntOffset_Z); |
b0ssiz | 7:ce4234c56410 | 811 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatOffset_Z)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 812 | *offset_z=int_buffer+float_buffer;; |
b0ssiz | 7:ce4234c56410 | 813 | |
b0ssiz | 0:fc963e08d580 | 814 | } |
b0ssiz | 0:fc963e08d580 | 815 | return status; |
b0ssiz | 0:fc963e08d580 | 816 | } |
b0ssiz | 0:fc963e08d580 | 817 | |
b0ssiz | 0:fc963e08d580 | 818 | |
b0ssiz | 0:fc963e08d580 | 819 | |
b0ssiz | 4:9fbe67ca2f1b | 820 | uint8_t Bear_Communicate::setBodyLength(uint8_t id,float body_length) |
b0ssiz | 0:fc963e08d580 | 821 | { |
b0ssiz | 7:ce4234c56410 | 822 | uint8_t IntBodyLength[2],FloatBodyLength[2]; |
b0ssiz | 7:ce4234c56410 | 823 | FloatSep(body_length,IntBodyLength,FloatBodyLength); |
b0ssiz | 7:ce4234c56410 | 824 | |
b0ssiz | 0:fc963e08d580 | 825 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 826 | |
b0ssiz | 0:fc963e08d580 | 827 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 828 | package.length = 7; |
b0ssiz | 0:fc963e08d580 | 829 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 7:ce4234c56410 | 830 | package.parameter[0]=BODY_LENGTH; |
b0ssiz | 7:ce4234c56410 | 831 | package.parameter[1]=IntBodyLength[0]; |
b0ssiz | 7:ce4234c56410 | 832 | package.parameter[2]=IntBodyLength[1]; |
b0ssiz | 7:ce4234c56410 | 833 | package.parameter[3]=FloatBodyLength[0]; |
b0ssiz | 7:ce4234c56410 | 834 | package.parameter[4]=FloatBodyLength[1]; |
b0ssiz | 0:fc963e08d580 | 835 | |
b0ssiz | 0:fc963e08d580 | 836 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 837 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 838 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 839 | } |
b0ssiz | 0:fc963e08d580 | 840 | |
b0ssiz | 0:fc963e08d580 | 841 | |
b0ssiz | 0:fc963e08d580 | 842 | |
b0ssiz | 0:fc963e08d580 | 843 | |
b0ssiz | 4:9fbe67ca2f1b | 844 | uint8_t Bear_Communicate::getBodyLength(uint8_t id,float *body_length) |
b0ssiz | 0:fc963e08d580 | 845 | { |
b0ssiz | 7:ce4234c56410 | 846 | uint8_t IntBodyLength[2],FloatBodyLength[2]; |
b0ssiz | 7:ce4234c56410 | 847 | float int_buffer,float_buffer; |
b0ssiz | 0:fc963e08d580 | 848 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 849 | |
b0ssiz | 0:fc963e08d580 | 850 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 851 | package.length = 3; |
b0ssiz | 0:fc963e08d580 | 852 | package.instructionErrorId = READ_DATA; |
b0ssiz | 7:ce4234c56410 | 853 | package.parameter[0]=BODY_LENGTH; |
b0ssiz | 7:ce4234c56410 | 854 | |
b0ssiz | 0:fc963e08d580 | 855 | |
b0ssiz | 0:fc963e08d580 | 856 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 857 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 858 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 859 | |
b0ssiz | 0:fc963e08d580 | 860 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 861 | wait_us(RS485_DELAY); |
b0ssiz | 7:ce4234c56410 | 862 | uint8_t status=com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 863 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 7:ce4234c56410 | 864 | IntBodyLength[0]=package.parameter[0]; |
b0ssiz | 7:ce4234c56410 | 865 | IntBodyLength[1]=package.parameter[1]; |
b0ssiz | 7:ce4234c56410 | 866 | FloatBodyLength[0]=package.parameter[2]; |
b0ssiz | 7:ce4234c56410 | 867 | FloatBodyLength[1]=package.parameter[3]; |
b0ssiz | 7:ce4234c56410 | 868 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntBodyLength); |
b0ssiz | 7:ce4234c56410 | 869 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatBodyLength)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 870 | *body_length=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 871 | } |
b0ssiz | 0:fc963e08d580 | 872 | return status; |
b0ssiz | 0:fc963e08d580 | 873 | } |
b0ssiz | 0:fc963e08d580 | 874 | |
b0ssiz | 8:e1f43b1df0b5 | 875 | |
b0ssiz | 8:e1f43b1df0b5 | 876 | uint8_t Bear_Communicate::setUpAngleRange(uint8_t id,float max_angle,float min_angle) |
b0ssiz | 0:fc963e08d580 | 877 | { |
b0ssiz | 7:ce4234c56410 | 878 | uint8_t IntMaxAngle[2],FloatMaxAngle[2]; |
b0ssiz | 7:ce4234c56410 | 879 | uint8_t IntMinAngle[2],FloatMinAngle[2]; |
b0ssiz | 7:ce4234c56410 | 880 | FloatSep(max_angle,IntMaxAngle,FloatMaxAngle); |
b0ssiz | 7:ce4234c56410 | 881 | FloatSep(min_angle,IntMinAngle,FloatMinAngle); |
b0ssiz | 7:ce4234c56410 | 882 | |
b0ssiz | 0:fc963e08d580 | 883 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 884 | |
b0ssiz | 0:fc963e08d580 | 885 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 886 | package.length = 11; |
b0ssiz | 0:fc963e08d580 | 887 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:e1f43b1df0b5 | 888 | package.parameter[0]=ANGLE_RANGE_UP; |
b0ssiz | 8:e1f43b1df0b5 | 889 | package.parameter[1]=IntMaxAngle[0]; |
b0ssiz | 8:e1f43b1df0b5 | 890 | package.parameter[2]=IntMaxAngle[1]; |
b0ssiz | 8:e1f43b1df0b5 | 891 | package.parameter[3]=FloatMaxAngle[0]; |
b0ssiz | 8:e1f43b1df0b5 | 892 | package.parameter[4]=FloatMaxAngle[1]; |
b0ssiz | 8:e1f43b1df0b5 | 893 | package.parameter[5]=IntMinAngle[0]; |
b0ssiz | 8:e1f43b1df0b5 | 894 | package.parameter[6]=IntMinAngle[1]; |
b0ssiz | 8:e1f43b1df0b5 | 895 | package.parameter[7]=FloatMinAngle[0]; |
b0ssiz | 8:e1f43b1df0b5 | 896 | package.parameter[8]=FloatMinAngle[1]; |
b0ssiz | 8:e1f43b1df0b5 | 897 | |
b0ssiz | 8:e1f43b1df0b5 | 898 | rs485_dirc=1; |
b0ssiz | 8:e1f43b1df0b5 | 899 | wait_us(RS485_DELAY); |
b0ssiz | 8:e1f43b1df0b5 | 900 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:e1f43b1df0b5 | 901 | } |
b0ssiz | 8:e1f43b1df0b5 | 902 | |
b0ssiz | 8:e1f43b1df0b5 | 903 | |
b0ssiz | 8:e1f43b1df0b5 | 904 | uint8_t Bear_Communicate::setLowAngleRange(uint8_t id,float max_angle,float min_angle) |
b0ssiz | 8:e1f43b1df0b5 | 905 | { |
b0ssiz | 8:e1f43b1df0b5 | 906 | uint8_t IntMaxAngle[2],FloatMaxAngle[2]; |
b0ssiz | 8:e1f43b1df0b5 | 907 | uint8_t IntMinAngle[2],FloatMinAngle[2]; |
b0ssiz | 8:e1f43b1df0b5 | 908 | FloatSep(max_angle,IntMaxAngle,FloatMaxAngle); |
b0ssiz | 8:e1f43b1df0b5 | 909 | FloatSep(min_angle,IntMinAngle,FloatMinAngle); |
b0ssiz | 8:e1f43b1df0b5 | 910 | |
b0ssiz | 8:e1f43b1df0b5 | 911 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:e1f43b1df0b5 | 912 | |
b0ssiz | 8:e1f43b1df0b5 | 913 | package.robotId = id; |
b0ssiz | 8:e1f43b1df0b5 | 914 | package.length = 11; |
b0ssiz | 8:e1f43b1df0b5 | 915 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:e1f43b1df0b5 | 916 | package.parameter[0]=ANGLE_RANGE_LOW; |
b0ssiz | 7:ce4234c56410 | 917 | package.parameter[1]=IntMaxAngle[0]; |
b0ssiz | 7:ce4234c56410 | 918 | package.parameter[2]=IntMaxAngle[1]; |
b0ssiz | 7:ce4234c56410 | 919 | package.parameter[3]=FloatMaxAngle[0]; |
b0ssiz | 7:ce4234c56410 | 920 | package.parameter[4]=FloatMaxAngle[1]; |
b0ssiz | 7:ce4234c56410 | 921 | package.parameter[5]=IntMinAngle[0]; |
b0ssiz | 7:ce4234c56410 | 922 | package.parameter[6]=IntMinAngle[1]; |
b0ssiz | 7:ce4234c56410 | 923 | package.parameter[7]=FloatMinAngle[0]; |
b0ssiz | 7:ce4234c56410 | 924 | package.parameter[8]=FloatMinAngle[1]; |
b0ssiz | 0:fc963e08d580 | 925 | |
b0ssiz | 0:fc963e08d580 | 926 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 927 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 928 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 929 | } |
b0ssiz | 0:fc963e08d580 | 930 | |
b0ssiz | 0:fc963e08d580 | 931 | |
b0ssiz | 0:fc963e08d580 | 932 | |
b0ssiz | 0:fc963e08d580 | 933 | |
b0ssiz | 8:e1f43b1df0b5 | 934 | uint8_t Bear_Communicate::getUpAngleRange(uint8_t id,float *max_angle,float *min_angle) |
b0ssiz | 0:fc963e08d580 | 935 | { |
b0ssiz | 7:ce4234c56410 | 936 | uint8_t IntMaxAngle[2],FloatMaxAngle[2]; |
b0ssiz | 7:ce4234c56410 | 937 | uint8_t IntMinAngle[2],FloatMinAngle[2]; |
b0ssiz | 7:ce4234c56410 | 938 | float int_buffer,float_buffer; |
b0ssiz | 0:fc963e08d580 | 939 | |
b0ssiz | 0:fc963e08d580 | 940 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 941 | |
b0ssiz | 0:fc963e08d580 | 942 | package.robotId = id; |
b0ssiz | 7:ce4234c56410 | 943 | package.length = 3; |
b0ssiz | 0:fc963e08d580 | 944 | package.instructionErrorId = READ_DATA; |
b0ssiz | 8:e1f43b1df0b5 | 945 | package.parameter[0] = ANGLE_RANGE_UP; |
b0ssiz | 0:fc963e08d580 | 946 | |
b0ssiz | 0:fc963e08d580 | 947 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 948 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 949 | com->sendCommunicatePacket(&package); |
b0ssiz | 4:9fbe67ca2f1b | 950 | |
b0ssiz | 0:fc963e08d580 | 951 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 952 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 953 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 954 | |
b0ssiz | 7:ce4234c56410 | 955 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 7:ce4234c56410 | 956 | IntMaxAngle[0]=package.parameter[0]; |
b0ssiz | 7:ce4234c56410 | 957 | IntMaxAngle[1]=package.parameter[1]; |
b0ssiz | 7:ce4234c56410 | 958 | FloatMaxAngle[0]=package.parameter[2]; |
b0ssiz | 7:ce4234c56410 | 959 | FloatMaxAngle[1]=package.parameter[3]; |
b0ssiz | 7:ce4234c56410 | 960 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntMaxAngle); |
b0ssiz | 7:ce4234c56410 | 961 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatMaxAngle)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 962 | *max_angle=int_buffer+float_buffer; |
b0ssiz | 7:ce4234c56410 | 963 | |
b0ssiz | 7:ce4234c56410 | 964 | IntMinAngle[0]=package.parameter[4]; |
b0ssiz | 7:ce4234c56410 | 965 | IntMinAngle[1]=package.parameter[5]; |
b0ssiz | 7:ce4234c56410 | 966 | FloatMinAngle[0]=package.parameter[6]; |
b0ssiz | 7:ce4234c56410 | 967 | FloatMinAngle[1]=package.parameter[7]; |
b0ssiz | 7:ce4234c56410 | 968 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntMinAngle); |
b0ssiz | 7:ce4234c56410 | 969 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatMinAngle)/FLOAT_CONVERTER; |
b0ssiz | 7:ce4234c56410 | 970 | *min_angle=int_buffer+float_buffer;; |
b0ssiz | 0:fc963e08d580 | 971 | |
b0ssiz | 0:fc963e08d580 | 972 | } |
b0ssiz | 0:fc963e08d580 | 973 | return status; |
b0ssiz | 8:e1f43b1df0b5 | 974 | } |
b0ssiz | 8:e1f43b1df0b5 | 975 | |
b0ssiz | 8:e1f43b1df0b5 | 976 | |
b0ssiz | 8:e1f43b1df0b5 | 977 | |
b0ssiz | 8:e1f43b1df0b5 | 978 | uint8_t Bear_Communicate::getLowAngleRange(uint8_t id,float *max_angle,float *min_angle) |
b0ssiz | 8:e1f43b1df0b5 | 979 | { |
b0ssiz | 8:e1f43b1df0b5 | 980 | uint8_t IntMaxAngle[2],FloatMaxAngle[2]; |
b0ssiz | 8:e1f43b1df0b5 | 981 | uint8_t IntMinAngle[2],FloatMinAngle[2]; |
b0ssiz | 8:e1f43b1df0b5 | 982 | float int_buffer,float_buffer; |
b0ssiz | 8:e1f43b1df0b5 | 983 | |
b0ssiz | 8:e1f43b1df0b5 | 984 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:e1f43b1df0b5 | 985 | |
b0ssiz | 8:e1f43b1df0b5 | 986 | package.robotId = id; |
b0ssiz | 8:e1f43b1df0b5 | 987 | package.length = 3; |
b0ssiz | 8:e1f43b1df0b5 | 988 | package.instructionErrorId = READ_DATA; |
b0ssiz | 8:e1f43b1df0b5 | 989 | package.parameter[0] = ANGLE_RANGE_LOW; |
b0ssiz | 8:e1f43b1df0b5 | 990 | |
b0ssiz | 8:e1f43b1df0b5 | 991 | rs485_dirc=1; |
b0ssiz | 8:e1f43b1df0b5 | 992 | wait_us(RS485_DELAY); |
b0ssiz | 8:e1f43b1df0b5 | 993 | com->sendCommunicatePacket(&package); |
b0ssiz | 8:e1f43b1df0b5 | 994 | |
b0ssiz | 8:e1f43b1df0b5 | 995 | rs485_dirc=0; |
b0ssiz | 8:e1f43b1df0b5 | 996 | wait_us(RS485_DELAY); |
b0ssiz | 8:e1f43b1df0b5 | 997 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 8:e1f43b1df0b5 | 998 | |
b0ssiz | 8:e1f43b1df0b5 | 999 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 8:e1f43b1df0b5 | 1000 | IntMaxAngle[0]=package.parameter[0]; |
b0ssiz | 8:e1f43b1df0b5 | 1001 | IntMaxAngle[1]=package.parameter[1]; |
b0ssiz | 8:e1f43b1df0b5 | 1002 | FloatMaxAngle[0]=package.parameter[2]; |
b0ssiz | 8:e1f43b1df0b5 | 1003 | FloatMaxAngle[1]=package.parameter[3]; |
b0ssiz | 8:e1f43b1df0b5 | 1004 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntMaxAngle); |
b0ssiz | 8:e1f43b1df0b5 | 1005 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatMaxAngle)/FLOAT_CONVERTER; |
b0ssiz | 8:e1f43b1df0b5 | 1006 | *max_angle=int_buffer+float_buffer; |
b0ssiz | 8:e1f43b1df0b5 | 1007 | |
b0ssiz | 8:e1f43b1df0b5 | 1008 | IntMinAngle[0]=package.parameter[4]; |
b0ssiz | 8:e1f43b1df0b5 | 1009 | IntMinAngle[1]=package.parameter[5]; |
b0ssiz | 8:e1f43b1df0b5 | 1010 | FloatMinAngle[0]=package.parameter[6]; |
b0ssiz | 8:e1f43b1df0b5 | 1011 | FloatMinAngle[1]=package.parameter[7]; |
b0ssiz | 8:e1f43b1df0b5 | 1012 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntMinAngle); |
b0ssiz | 8:e1f43b1df0b5 | 1013 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatMinAngle)/FLOAT_CONVERTER; |
b0ssiz | 8:e1f43b1df0b5 | 1014 | *min_angle=int_buffer+float_buffer;; |
b0ssiz | 8:e1f43b1df0b5 | 1015 | |
b0ssiz | 8:e1f43b1df0b5 | 1016 | } |
b0ssiz | 8:e1f43b1df0b5 | 1017 | return status; |
b0ssiz | 8:e1f43b1df0b5 | 1018 | } |
b0ssiz | 8:e1f43b1df0b5 | 1019 |