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@0:fc963e08d580, 2015-12-23 (annotated)

Committer:
b0ssiz
Date:
Wed Dec 23 13:05:53 2015 +0000
Revision:
0:fc963e08d580
Child:
4:9fbe67ca2f1b
Create BEAR_Protocol;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
b0ssiz 0:fc963e08d580 1 #include "mbed.h"
b0ssiz 0:fc963e08d580 2 #include "iSerial.h"
b0ssiz 0:fc963e08d580 3 #include "Command.h"
b0ssiz 0:fc963e08d580 4 #include "communication.h"
b0ssiz 0:fc963e08d580 5
b0ssiz 0:fc963e08d580 6 #define SERIAL_DEBUG
b0ssiz 0:fc963e08d580 7 #define RS485_DELAY 90
b0ssiz 0:fc963e08d580 8 #define RS485_DIRC PA_14
b0ssiz 0:fc963e08d580 9
b0ssiz 0:fc963e08d580 10
b0ssiz 0:fc963e08d580 11
b0ssiz 0:fc963e08d580 12 class Bear_Communicate
b0ssiz 0:fc963e08d580 13 {
b0ssiz 0:fc963e08d580 14 private:
b0ssiz 0:fc963e08d580 15 COMMUNICATION *com;
b0ssiz 0:fc963e08d580 16
b0ssiz 0:fc963e08d580 17 public:
b0ssiz 0:fc963e08d580 18 Bear_Communicate(PinName,PinName,int);
b0ssiz 0:fc963e08d580 19
b0ssiz 0:fc963e08d580 20 // Set Command
b0ssiz 0:fc963e08d580 21 uint8_t SetID(uint8_t,uint8_t);
b0ssiz 0:fc963e08d580 22 uint8_t SetMotorPos(uint8_t,float,float);
b0ssiz 0:fc963e08d580 23 uint8_t SetKp(uint8_t,float);
b0ssiz 0:fc963e08d580 24 uint8_t SetKi(uint8_t,float);
b0ssiz 0:fc963e08d580 25 uint8_t SetKd(uint8_t,float);
b0ssiz 0:fc963e08d580 26 //EEPROM
b0ssiz 0:fc963e08d580 27 uint8_t SetMargin(uint8_t,float);
b0ssiz 0:fc963e08d580 28 uint8_t SetHeight(uint8_t,float);
b0ssiz 0:fc963e08d580 29 uint8_t SetWheelPos(uint8_t,float);
b0ssiz 0:fc963e08d580 30 uint8_t SetMagData(uint8_t,float,float,float,float,float,float);
b0ssiz 0:fc963e08d580 31 uint8_t SetOffset(uint8_t,float,float);
b0ssiz 0:fc963e08d580 32 uint8_t SetBodyLength(uint8_t,float);
b0ssiz 0:fc963e08d580 33 uint8_t SetAngleRange(uint8_t,float,float);
b0ssiz 0:fc963e08d580 34
b0ssiz 0:fc963e08d580 35 // Get Command
b0ssiz 0:fc963e08d580 36 uint8_t GetMotorPos(uint8_t,float*,float*);
b0ssiz 0:fc963e08d580 37 uint8_t GetKpKiKd(uint8_t,float*,float*,float*);
b0ssiz 0:fc963e08d580 38 //EEPROM
b0ssiz 0:fc963e08d580 39 uint8_t GetMargin(uint8_t,float*);
b0ssiz 0:fc963e08d580 40 uint8_t GetHeight(uint8_t,float*);
b0ssiz 0:fc963e08d580 41 uint8_t GetWheelPos(uint8_t,float*);
b0ssiz 0:fc963e08d580 42 uint8_t GetMagData(uint8_t,float*,float*,float*,float*,float*,float*);
b0ssiz 0:fc963e08d580 43 uint8_t GetOffset(uint8_t,float*,float*);
b0ssiz 0:fc963e08d580 44 uint8_t GetBodyLength(uint8_t,float*);
b0ssiz 0:fc963e08d580 45 uint8_t GetAngleRange(uint8_t,float*,float*);
b0ssiz 0:fc963e08d580 46 };