ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
Diff: BEAR_Protocol.cpp
- Revision:
- 6:07749b50d600
- Parent:
- 5:6f30b4ea4020
- Child:
- 7:ce4234c56410
--- a/BEAR_Protocol.cpp Fri Jan 15 17:02:08 2016 +0000 +++ b/BEAR_Protocol.cpp Sat Jan 16 00:15:38 2016 +0000 @@ -98,18 +98,18 @@ uint8_t status = com->receiveCommunicatePacket(&package); if(status == ANDANTE_ERRBIT_NONE) { - IntUpAngle[0]=package.parameter[1]; - IntUpAngle[1]=package.parameter[2]; - FloatUpAngle[0]=package.parameter[3]; - FloatUpAngle[1]=package.parameter[4]; + IntUpAngle[0]=package.parameter[0]; + IntUpAngle[1]=package.parameter[1]; + FloatUpAngle[0]=package.parameter[2]; + FloatUpAngle[1]=package.parameter[3]; int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntUpAngle); float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatUpAngle)/FLOAT_CONVERTER; *up_angle=int_buffer+float_buffer; - IntLowAngle[0]=package.parameter[5]; - IntLowAngle[1]=package.parameter[6]; - FloatLowAngle[0]=package.parameter[7]; - FloatLowAngle[1]=package.parameter[8]; + IntLowAngle[0]=package.parameter[4]; + IntLowAngle[1]=package.parameter[5]; + FloatLowAngle[0]=package.parameter[6]; + FloatLowAngle[1]=package.parameter[7]; int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntLowAngle); float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatLowAngle)/FLOAT_CONVERTER; *low_angle=int_buffer+float_buffer;;