ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
Diff: Command.h
- Revision:
- 5:6f30b4ea4020
- Parent:
- 0:fc963e08d580
- Child:
- 7:ce4234c56410
--- a/Command.h Fri Jan 15 15:52:31 2016 +0000 +++ b/Command.h Fri Jan 15 17:02:08 2016 +0000 @@ -8,40 +8,46 @@ #define SET_MOTOR_UPPER_ANG 0x01 #define SET_MOTOR_LOWER_ANG 0x02 #define SET_MARGIN 0x03 -#define SET_KP 0x04 -#define SET_KI 0x05 -#define SET_KD 0x06 -#define SET_HEIGHT 0x07 -#define SET_WHEELPOS 0x08 -#define SET_MAG_X_MAX 0x09 -#define SET_MAG_Y_MAX 0x0A -#define SET_MAG_Z_MAX 0x0B -#define SET_MAG_X_MIN 0x0C -#define SET_MAG_Y_MIN 0x0D -#define SET_MAG_Z_MIN 0x0E -#define SET_OFFSET_Y 0x0F -#define SET_OFFSET_Z 0x10 -#define SET_BODY_LENGTH 0x11 -#define SET_MAX_ANGLE 0x12 -#define SET_MIN_ANGLE 0x13 +#define SET_KP_UPPER_MOTOR 0x04 +#define SET_KI_UPPER_MOTOR 0x05 +#define SET_KD_UPPER_MOTOR 0x06 +#define SET_KP_LOWER_MOTOR 0x07 +#define SET_KI_LOWER_MOTOR 0x08 +#define SET_KD_LOWER_MOTOR 0x09 +#define SET_HEIGHT 0x0A +#define SET_WHEELPOS 0x0B +#define SET_MAG_X_MAX 0x0C +#define SET_MAG_Y_MAX 0x0D +#define SET_MAG_Z_MAX 0x0E +#define SET_MAG_X_MIN 0x0F +#define SET_MAG_Y_MIN 0x10 +#define SET_MAG_Z_MIN 0x11 +#define SET_OFFSET_Y 0x12 +#define SET_OFFSET_Z 0x13 +#define SET_BODY_LENGTH 0x14 +#define SET_MAX_ANGLE 0x15 +#define SET_MIN_ANGLE 0x16 #define GET_MOTOR_UPPER_ANG 0x32 #define GET_MOTOR_LOWER_ANG 0x33 #define GET_MARGIN 0x34 -#define GET_KP 0x35 -#define GET_KI 0x36 -#define GET_KD 0x37 -#define GET_HEIGHT 0x38 -#define GET_WHEELPOS 0x39 -#define GET_MAG_X_MAX 0x3A -#define GET_MAG_Y_MAX 0x3B -#define GET_MAG_Z_MAX 0x3C -#define GET_MAG_X_MIN 0x3D -#define GET_MAG_Y_MIN 0x3E -#define GET_MAG_Z_MIN 0x3F -#define GET_OFFSET_Y 0x40 -#define GET_OFFSET_Z 0x41 +#define GET_KP_UPPER_MOTOR 0x35 +#define GET_KI_UPPER_MOTOR 0x36 +#define GET_KD_UPPER_MOTOR 0x37 +#define GET_KP_LOWER_MOTOR 0x38 +#define GET_KI_LOWER_MOTOR 0x39 +#define GET_KD_LOWER_MOTOR 0x3A +#define GET_HEIGHT 0x3B +#define GET_WHEELPOS 0x3C +#define GET_MAG_X_MAX 0x3D +#define GET_MAG_Y_MAX 0x3E +#define GET_MAG_Z_MAX 0x3F +#define GET_MAG_X_MIN 0x40 +#define GET_MAG_Y_MIN 0x41 +#define GET_MAG_Z_MIN 0x42 +#define GET_OFFSET_Y 0x43 +#define GET_OFFSET_Z 0x44 #define GET_BODY_LENGTH 0x42 #define GET_MAX_ANGLE 0x43 #define GET_MIN_ANGLE 0x44 \ No newline at end of file