ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
BEAR_Protocol.h
- Committer:
- b0ssiz
- Date:
- 2016-01-22
- Revision:
- 10:2398eeafa967
- Parent:
- 8:e1f43b1df0b5
- Child:
- 11:b34eababcf56
File content as of revision 10:2398eeafa967:
#include "mbed.h" #include "Command.h" #include "communication.h" #define SERIAL_DEBUG #define RS485_DELAY 90 #define RS485_DIRC PA_14 class Bear_Communicate { private: COMMUNICATION *com; public: Bear_Communicate(PinName,PinName,int); void FloatSep(float,uint8_t*,uint8_t*); // Set Command uint8_t setID(uint8_t,uint8_t); uint8_t setMotorPos(uint8_t,float,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 setUpMargin(uint8_t,float); uint8_t setLowMargin(uint8_t,float); uint8_t setHeight(uint8_t,float); uint8_t setWheelPos(uint8_t,float); uint8_t setMagData(uint8_t,float,float,float,float,float,float); uint8_t setOffset(uint8_t,float,float); uint8_t setBodyLength(uint8_t,float); uint8_t setUpAngleRange(uint8_t,float,float); uint8_t setLowAngleRange(uint8_t,float,float); uint8_t setUpLinkLength(uint8_t,float); uint8_t setLowLinkLength(uint8_t,float); // get Command uint8_t getMotorPos(uint8_t,float*,float*); uint8_t getUpMotorKpKiKd(uint8_t,float*,float*,float*); uint8_t getLowMotorKpKiKd(uint8_t,float*,float*,float*); //EEPROM uint8_t getUpMargin(uint8_t,float*); uint8_t getLowMargin(uint8_t,float*); uint8_t getHeight(uint8_t,float*); uint8_t getWheelPos(uint8_t,float*); uint8_t getMagData(uint8_t,float*,float*,float*,float*,float*,float*); uint8_t getOffset(uint8_t,float*,float*); uint8_t getBodyLength(uint8_t,float*); uint8_t getUpAngleRange(uint8_t,float*,float*); uint8_t getLowAngleRange(uint8_t,float*,float*); uint8_t getUpLinkLength(uint8_t,float*); uint8_t getLowLinkLength(uint8_t,float*); uint8_t saveDataToEEPROM(uint8_t,uint8_t); };