ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
Command.h
- Committer:
- b0ssiz
- Date:
- 2016-01-15
- Revision:
- 5:6f30b4ea4020
- Parent:
- 0:fc963e08d580
- Child:
- 7:ce4234c56410
File content as of revision 5:6f30b4ea4020:
//Instruction Set #define PING 0x01 #define READ_DATA 0x02 #define WRITE_DATA 0x03 //CONTROL TABLE #define SET_ID 0x00 #define SET_MOTOR_UPPER_ANG 0x01 #define SET_MOTOR_LOWER_ANG 0x02 #define SET_MARGIN 0x03 #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_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