ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
Diff: BEAR_Protocol.h
- Revision:
- 5:6f30b4ea4020
- Parent:
- 4:9fbe67ca2f1b
- Child:
- 8:e1f43b1df0b5
--- a/BEAR_Protocol.h Fri Jan 15 15:52:31 2016 +0000 +++ b/BEAR_Protocol.h Fri Jan 15 17:02:08 2016 +0000 @@ -19,9 +19,12 @@ // Set Command uint8_t setID(uint8_t,uint8_t); uint8_t setMotorPos(uint8_t,float,float); - uint8_t setKp(uint8_t,float); - uint8_t setKi(uint8_t,float); - uint8_t setKd(uint8_t,float); + uint8_t setUpMotorKp(uint8_t,float); + uint8_t setLowMotorKp(uint8_t,float); + uint8_t setUpMotorKi(uint8_t,float); + uint8_t setLowMotorKi(uint8_t,float); + uint8_t setUpMotorKd(uint8_t,float); + uint8_t setLowMotorKd(uint8_t,float); //EEPROM uint8_t setMargin(uint8_t,float); uint8_t setHeight(uint8_t,float); @@ -33,7 +36,8 @@ // get Command uint8_t getMotorPos(uint8_t,float*,float*); - uint8_t getKpKiKd(uint8_t,float*,float*,float*); + uint8_t getUpMotorKpKiKd(uint8_t,float*,float*,float*); + uint8_t getLowMotorKpKiKd(uint8_t,float*,float*,float*); //EEPROM uint8_t getMargin(uint8_t,float*); uint8_t getHeight(uint8_t,float*);