ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
Diff: BEAR_Protocol.cpp
- Revision:
- 2:d17ccaf938f6
- Parent:
- 0:fc963e08d580
- Child:
- 4:9fbe67ca2f1b
--- a/BEAR_Protocol.cpp Wed Dec 23 13:08:23 2015 +0000 +++ b/BEAR_Protocol.cpp Wed Dec 23 13:20:18 2015 +0000 @@ -1,6 +1,6 @@ #include "mbed.h" #include "BEAR_Protocol.h" - +#define RS485_DELAY 90 DigitalOut rs485_dirc(RS485_DIRC); Bear_Communicate::Bear_Communicate(PinName tx,PinName rx,int baudrate) @@ -68,9 +68,6 @@ *up_angle=(float)package.parameter[0]; *low_angle=(float)package.parameter[1]; -#ifdef SERIAL_DEBUG - printf("up_angle : %f low_angle : %f \r\n", *up_angle,*low_angle); -#endif } return status; } @@ -153,9 +150,6 @@ *Kp=package.parameter[0]; *Ki=package.parameter[1]; *Kd=package.parameter[2]; -#ifdef SERIAL_DEBUG - //printf("Kp : 0x%02X Ki : 0x%02X Kd : 0x%02X \r\n", *Kp,*Ki,*Kd); -#endif } return status; } @@ -203,9 +197,6 @@ if(status == ANDANTE_ERRBIT_NONE) { *margin=package.parameter[0]; -#ifdef SERIAL_DEBUG - //printf("Margin : 0x%02X \r\n", *margin); -#endif } return status; } @@ -250,9 +241,6 @@ *height = package.parameter[0]; -#ifdef SERIAL_DEBUG - //printf("Height : 0x%02X \r\n", *height); -#endif } return status; } @@ -296,10 +284,6 @@ if(status == ANDANTE_ERRBIT_NONE) { *WheelPos = package.parameter[0]; - -#ifdef SERIAL_DEBUG - //printf("Wheel_position : 0x%02X \r\n", *WheelPos); -#endif } return status; } @@ -350,10 +334,6 @@ *y_min=package.parameter[4]; *z_min=package.parameter[5]; - -#ifdef SERIAL_DEBUG - printf("X_max : 0x%02X Y_max : 0x%02X Z_max : 0x%02X X_min : 0x%02X Y_min : 0x%02X Z_min : 0x%02X \r\n",x_max,y_max,z_max,x_min,y_min,z_min); -#endif } return status; } @@ -399,10 +379,6 @@ *offset_y=package.parameter[0]; *offset_z=package.parameter[1]; - -#ifdef SERIAL_DEBUG - //printf("Offset_Y : 0x%02X Offset_Z : 0x%02X \r\n",*offset_y,*offset_z); -#endif } return status; } @@ -447,10 +423,6 @@ if(status == ANDANTE_ERRBIT_NONE) { *body_length=package.parameter[0]; - -#ifdef SERIAL_DEBUG - //printf("Body_Length : 0x%02X \r\n",*body_length); -#endif } return status; } @@ -497,9 +469,6 @@ *max_angle=package.parameter[0]; *min_angle=package.parameter[1]; -#ifdef SERIAL_DEBUG - //printf("Max_angle : 0x%02X Min_angle : 0x%02X \r\n",*max_angle,*min,angle); -#endif } return status; } \ No newline at end of file