ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
BEAR_Protocol.cpp@6:07749b50d600, 2016-01-16 (annotated)
- Committer:
- b0ssiz
- Date:
- Sat Jan 16 00:15:38 2016 +0000
- Revision:
- 6:07749b50d600
- Parent:
- 5:6f30b4ea4020
- Child:
- 7:ce4234c56410
Fix bug setMotorPos parameter
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
b0ssiz | 0:fc963e08d580 | 1 | #include "mbed.h" |
b0ssiz | 0:fc963e08d580 | 2 | #include "BEAR_Protocol.h" |
b0ssiz | 2:d17ccaf938f6 | 3 | #define RS485_DELAY 90 |
b0ssiz | 4:9fbe67ca2f1b | 4 | #define FLOAT_CONVERTER 10000 |
b0ssiz | 4:9fbe67ca2f1b | 5 | |
b0ssiz | 0:fc963e08d580 | 6 | DigitalOut rs485_dirc(RS485_DIRC); |
b0ssiz | 0:fc963e08d580 | 7 | |
b0ssiz | 0:fc963e08d580 | 8 | Bear_Communicate::Bear_Communicate(PinName tx,PinName rx,int baudrate) |
b0ssiz | 0:fc963e08d580 | 9 | { |
b0ssiz | 0:fc963e08d580 | 10 | com = new COMMUNICATION(tx,rx,baudrate); |
b0ssiz | 0:fc963e08d580 | 11 | } |
b0ssiz | 0:fc963e08d580 | 12 | |
b0ssiz | 0:fc963e08d580 | 13 | |
b0ssiz | 0:fc963e08d580 | 14 | |
b0ssiz | 4:9fbe67ca2f1b | 15 | void Bear_Communicate::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array) |
b0ssiz | 4:9fbe67ca2f1b | 16 | { |
b0ssiz | 4:9fbe67ca2f1b | 17 | float float_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 18 | float int_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 19 | int16_t integer; |
b0ssiz | 4:9fbe67ca2f1b | 20 | int16_t floating_point; |
b0ssiz | 4:9fbe67ca2f1b | 21 | |
b0ssiz | 4:9fbe67ca2f1b | 22 | float_buffer=modf(input_float,&int_buffer); |
b0ssiz | 4:9fbe67ca2f1b | 23 | float_buffer*=FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 24 | integer=(int16_t)int_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 25 | floating_point=(int16_t)float_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 26 | Utilities::ConvertInt16ToUInt8Array(integer,int_data_array); |
b0ssiz | 4:9fbe67ca2f1b | 27 | Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array); |
b0ssiz | 4:9fbe67ca2f1b | 28 | } |
b0ssiz | 4:9fbe67ca2f1b | 29 | |
b0ssiz | 4:9fbe67ca2f1b | 30 | |
b0ssiz | 4:9fbe67ca2f1b | 31 | |
b0ssiz | 4:9fbe67ca2f1b | 32 | uint8_t Bear_Communicate::setID(uint8_t id,uint8_t new_id) |
b0ssiz | 0:fc963e08d580 | 33 | { |
b0ssiz | 0:fc963e08d580 | 34 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 35 | |
b0ssiz | 0:fc963e08d580 | 36 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 37 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 38 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 0:fc963e08d580 | 39 | package.parameter[0]=SET_ID; |
b0ssiz | 0:fc963e08d580 | 40 | package.parameter[1]=new_id; |
b0ssiz | 0:fc963e08d580 | 41 | |
b0ssiz | 0:fc963e08d580 | 42 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 43 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 44 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 45 | } |
b0ssiz | 0:fc963e08d580 | 46 | |
b0ssiz | 0:fc963e08d580 | 47 | |
b0ssiz | 0:fc963e08d580 | 48 | |
b0ssiz | 4:9fbe67ca2f1b | 49 | uint8_t Bear_Communicate::setMotorPos(uint8_t id,float up_angle,float low_angle) |
b0ssiz | 0:fc963e08d580 | 50 | { |
b0ssiz | 4:9fbe67ca2f1b | 51 | uint8_t IntUpAngle[2],FloatUpAngle[2]; |
b0ssiz | 4:9fbe67ca2f1b | 52 | uint8_t IntLowAngle[2],FloatLowAngle[2]; |
b0ssiz | 4:9fbe67ca2f1b | 53 | FloatSep(up_angle,IntUpAngle,FloatUpAngle); |
b0ssiz | 4:9fbe67ca2f1b | 54 | FloatSep(low_angle,IntLowAngle,FloatLowAngle); |
b0ssiz | 4:9fbe67ca2f1b | 55 | |
b0ssiz | 0:fc963e08d580 | 56 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 57 | |
b0ssiz | 0:fc963e08d580 | 58 | package.robotId = id; |
b0ssiz | 4:9fbe67ca2f1b | 59 | package.length = 11; |
b0ssiz | 0:fc963e08d580 | 60 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 0:fc963e08d580 | 61 | package.parameter[0]=SET_MOTOR_UPPER_ANG; |
b0ssiz | 4:9fbe67ca2f1b | 62 | package.parameter[1]=IntUpAngle[0]; |
b0ssiz | 4:9fbe67ca2f1b | 63 | package.parameter[2]=IntUpAngle[1]; |
b0ssiz | 4:9fbe67ca2f1b | 64 | package.parameter[3]=FloatUpAngle[0]; |
b0ssiz | 4:9fbe67ca2f1b | 65 | package.parameter[4]=FloatUpAngle[1]; |
b0ssiz | 4:9fbe67ca2f1b | 66 | package.parameter[5]=IntLowAngle[0]; |
b0ssiz | 4:9fbe67ca2f1b | 67 | package.parameter[6]=IntLowAngle[1]; |
b0ssiz | 4:9fbe67ca2f1b | 68 | package.parameter[7]=FloatLowAngle[0]; |
b0ssiz | 4:9fbe67ca2f1b | 69 | package.parameter[8]=FloatLowAngle[1]; |
b0ssiz | 0:fc963e08d580 | 70 | |
b0ssiz | 0:fc963e08d580 | 71 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 72 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 73 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 74 | } |
b0ssiz | 0:fc963e08d580 | 75 | |
b0ssiz | 0:fc963e08d580 | 76 | |
b0ssiz | 0:fc963e08d580 | 77 | |
b0ssiz | 4:9fbe67ca2f1b | 78 | uint8_t Bear_Communicate::getMotorPos(uint8_t id,float *up_angle,float *low_angle) |
b0ssiz | 0:fc963e08d580 | 79 | { |
b0ssiz | 4:9fbe67ca2f1b | 80 | uint8_t IntUpAngle[2],FloatUpAngle[2]; |
b0ssiz | 4:9fbe67ca2f1b | 81 | uint8_t IntLowAngle[2],FloatLowAngle[2]; |
b0ssiz | 4:9fbe67ca2f1b | 82 | float int_buffer,float_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 83 | |
b0ssiz | 0:fc963e08d580 | 84 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 85 | |
b0ssiz | 0:fc963e08d580 | 86 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 87 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 88 | package.instructionErrorId = READ_DATA; |
b0ssiz | 0:fc963e08d580 | 89 | package.parameter[0] = GET_MOTOR_UPPER_ANG; |
b0ssiz | 0:fc963e08d580 | 90 | package.parameter[1] = 0x02; |
b0ssiz | 0:fc963e08d580 | 91 | |
b0ssiz | 0:fc963e08d580 | 92 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 93 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 94 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 95 | |
b0ssiz | 0:fc963e08d580 | 96 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 97 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 98 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 99 | |
b0ssiz | 0:fc963e08d580 | 100 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 6:07749b50d600 | 101 | IntUpAngle[0]=package.parameter[0]; |
b0ssiz | 6:07749b50d600 | 102 | IntUpAngle[1]=package.parameter[1]; |
b0ssiz | 6:07749b50d600 | 103 | FloatUpAngle[0]=package.parameter[2]; |
b0ssiz | 6:07749b50d600 | 104 | FloatUpAngle[1]=package.parameter[3]; |
b0ssiz | 4:9fbe67ca2f1b | 105 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntUpAngle); |
b0ssiz | 4:9fbe67ca2f1b | 106 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatUpAngle)/FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 107 | *up_angle=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 108 | |
b0ssiz | 6:07749b50d600 | 109 | IntLowAngle[0]=package.parameter[4]; |
b0ssiz | 6:07749b50d600 | 110 | IntLowAngle[1]=package.parameter[5]; |
b0ssiz | 6:07749b50d600 | 111 | FloatLowAngle[0]=package.parameter[6]; |
b0ssiz | 6:07749b50d600 | 112 | FloatLowAngle[1]=package.parameter[7]; |
b0ssiz | 4:9fbe67ca2f1b | 113 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntLowAngle); |
b0ssiz | 4:9fbe67ca2f1b | 114 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatLowAngle)/FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 115 | *low_angle=int_buffer+float_buffer;; |
b0ssiz | 0:fc963e08d580 | 116 | |
b0ssiz | 0:fc963e08d580 | 117 | } |
b0ssiz | 0:fc963e08d580 | 118 | return status; |
b0ssiz | 0:fc963e08d580 | 119 | } |
b0ssiz | 0:fc963e08d580 | 120 | |
b0ssiz | 0:fc963e08d580 | 121 | |
b0ssiz | 0:fc963e08d580 | 122 | |
b0ssiz | 5:6f30b4ea4020 | 123 | uint8_t Bear_Communicate::setUpMotorKp(uint8_t id,float Kp) |
b0ssiz | 0:fc963e08d580 | 124 | { |
b0ssiz | 4:9fbe67ca2f1b | 125 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 4:9fbe67ca2f1b | 126 | FloatSep(Kp,IntKp,FloatKp); |
b0ssiz | 4:9fbe67ca2f1b | 127 | |
b0ssiz | 0:fc963e08d580 | 128 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 129 | |
b0ssiz | 0:fc963e08d580 | 130 | package.robotId = id; |
b0ssiz | 4:9fbe67ca2f1b | 131 | package.length = 7; |
b0ssiz | 0:fc963e08d580 | 132 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 5:6f30b4ea4020 | 133 | package.parameter[0]=SET_KP_UPPER_MOTOR; |
b0ssiz | 4:9fbe67ca2f1b | 134 | package.parameter[1]=IntKp[0]; |
b0ssiz | 4:9fbe67ca2f1b | 135 | package.parameter[2]=IntKp[1]; |
b0ssiz | 4:9fbe67ca2f1b | 136 | package.parameter[3]=FloatKp[0]; |
b0ssiz | 4:9fbe67ca2f1b | 137 | package.parameter[4]=FloatKp[1]; |
b0ssiz | 0:fc963e08d580 | 138 | |
b0ssiz | 0:fc963e08d580 | 139 | |
b0ssiz | 0:fc963e08d580 | 140 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 141 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 142 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 143 | } |
b0ssiz | 0:fc963e08d580 | 144 | |
b0ssiz | 0:fc963e08d580 | 145 | |
b0ssiz | 0:fc963e08d580 | 146 | |
b0ssiz | 5:6f30b4ea4020 | 147 | |
b0ssiz | 5:6f30b4ea4020 | 148 | uint8_t Bear_Communicate::setLowMotorKp(uint8_t id,float Kp) |
b0ssiz | 5:6f30b4ea4020 | 149 | { |
b0ssiz | 5:6f30b4ea4020 | 150 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 5:6f30b4ea4020 | 151 | FloatSep(Kp,IntKp,FloatKp); |
b0ssiz | 5:6f30b4ea4020 | 152 | |
b0ssiz | 5:6f30b4ea4020 | 153 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:6f30b4ea4020 | 154 | |
b0ssiz | 5:6f30b4ea4020 | 155 | package.robotId = id; |
b0ssiz | 5:6f30b4ea4020 | 156 | package.length = 7; |
b0ssiz | 5:6f30b4ea4020 | 157 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 5:6f30b4ea4020 | 158 | package.parameter[0]=SET_KP_LOWER_MOTOR; |
b0ssiz | 5:6f30b4ea4020 | 159 | package.parameter[1]=IntKp[0]; |
b0ssiz | 5:6f30b4ea4020 | 160 | package.parameter[2]=IntKp[1]; |
b0ssiz | 5:6f30b4ea4020 | 161 | package.parameter[3]=FloatKp[0]; |
b0ssiz | 5:6f30b4ea4020 | 162 | package.parameter[4]=FloatKp[1]; |
b0ssiz | 5:6f30b4ea4020 | 163 | |
b0ssiz | 5:6f30b4ea4020 | 164 | |
b0ssiz | 5:6f30b4ea4020 | 165 | rs485_dirc=1; |
b0ssiz | 5:6f30b4ea4020 | 166 | wait_us(RS485_DELAY); |
b0ssiz | 5:6f30b4ea4020 | 167 | return com->sendCommunicatePacket(&package); |
b0ssiz | 5:6f30b4ea4020 | 168 | } |
b0ssiz | 5:6f30b4ea4020 | 169 | |
b0ssiz | 5:6f30b4ea4020 | 170 | |
b0ssiz | 5:6f30b4ea4020 | 171 | |
b0ssiz | 5:6f30b4ea4020 | 172 | |
b0ssiz | 5:6f30b4ea4020 | 173 | uint8_t Bear_Communicate::setUpMotorKi(uint8_t id,float Ki) |
b0ssiz | 0:fc963e08d580 | 174 | { |
b0ssiz | 4:9fbe67ca2f1b | 175 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 4:9fbe67ca2f1b | 176 | FloatSep(Ki,IntKi,FloatKi); |
b0ssiz | 4:9fbe67ca2f1b | 177 | |
b0ssiz | 0:fc963e08d580 | 178 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 179 | |
b0ssiz | 0:fc963e08d580 | 180 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 181 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 182 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 5:6f30b4ea4020 | 183 | package.parameter[0]=SET_KI_UPPER_MOTOR; |
b0ssiz | 4:9fbe67ca2f1b | 184 | package.parameter[1]=IntKi[0]; |
b0ssiz | 4:9fbe67ca2f1b | 185 | package.parameter[2]=IntKi[1]; |
b0ssiz | 4:9fbe67ca2f1b | 186 | package.parameter[3]=FloatKi[0]; |
b0ssiz | 4:9fbe67ca2f1b | 187 | package.parameter[4]=FloatKi[1]; |
b0ssiz | 4:9fbe67ca2f1b | 188 | |
b0ssiz | 4:9fbe67ca2f1b | 189 | |
b0ssiz | 4:9fbe67ca2f1b | 190 | |
b0ssiz | 4:9fbe67ca2f1b | 191 | rs485_dirc=1; |
b0ssiz | 4:9fbe67ca2f1b | 192 | wait_us(RS485_DELAY); |
b0ssiz | 4:9fbe67ca2f1b | 193 | return com->sendCommunicatePacket(&package); |
b0ssiz | 4:9fbe67ca2f1b | 194 | |
b0ssiz | 4:9fbe67ca2f1b | 195 | } |
b0ssiz | 4:9fbe67ca2f1b | 196 | |
b0ssiz | 4:9fbe67ca2f1b | 197 | |
b0ssiz | 4:9fbe67ca2f1b | 198 | |
b0ssiz | 5:6f30b4ea4020 | 199 | |
b0ssiz | 5:6f30b4ea4020 | 200 | uint8_t Bear_Communicate::setLowMotorKi(uint8_t id,float Ki) |
b0ssiz | 5:6f30b4ea4020 | 201 | { |
b0ssiz | 5:6f30b4ea4020 | 202 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 5:6f30b4ea4020 | 203 | FloatSep(Ki,IntKi,FloatKi); |
b0ssiz | 5:6f30b4ea4020 | 204 | |
b0ssiz | 5:6f30b4ea4020 | 205 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:6f30b4ea4020 | 206 | |
b0ssiz | 5:6f30b4ea4020 | 207 | package.robotId = id; |
b0ssiz | 5:6f30b4ea4020 | 208 | package.length = 4; |
b0ssiz | 5:6f30b4ea4020 | 209 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 5:6f30b4ea4020 | 210 | package.parameter[0]=SET_KI_LOWER_MOTOR; |
b0ssiz | 5:6f30b4ea4020 | 211 | package.parameter[1]=IntKi[0]; |
b0ssiz | 5:6f30b4ea4020 | 212 | package.parameter[2]=IntKi[1]; |
b0ssiz | 5:6f30b4ea4020 | 213 | package.parameter[3]=FloatKi[0]; |
b0ssiz | 5:6f30b4ea4020 | 214 | package.parameter[4]=FloatKi[1]; |
b0ssiz | 5:6f30b4ea4020 | 215 | |
b0ssiz | 5:6f30b4ea4020 | 216 | |
b0ssiz | 5:6f30b4ea4020 | 217 | |
b0ssiz | 5:6f30b4ea4020 | 218 | rs485_dirc=1; |
b0ssiz | 5:6f30b4ea4020 | 219 | wait_us(RS485_DELAY); |
b0ssiz | 5:6f30b4ea4020 | 220 | return com->sendCommunicatePacket(&package); |
b0ssiz | 5:6f30b4ea4020 | 221 | |
b0ssiz | 5:6f30b4ea4020 | 222 | } |
b0ssiz | 5:6f30b4ea4020 | 223 | |
b0ssiz | 5:6f30b4ea4020 | 224 | |
b0ssiz | 5:6f30b4ea4020 | 225 | |
b0ssiz | 5:6f30b4ea4020 | 226 | uint8_t Bear_Communicate::setUpMotorKd(uint8_t id,float Kd) |
b0ssiz | 4:9fbe67ca2f1b | 227 | { |
b0ssiz | 4:9fbe67ca2f1b | 228 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 4:9fbe67ca2f1b | 229 | FloatSep(Kd,IntKd,FloatKd); |
b0ssiz | 4:9fbe67ca2f1b | 230 | |
b0ssiz | 4:9fbe67ca2f1b | 231 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 4:9fbe67ca2f1b | 232 | |
b0ssiz | 4:9fbe67ca2f1b | 233 | package.robotId = id; |
b0ssiz | 4:9fbe67ca2f1b | 234 | package.length = 7; |
b0ssiz | 4:9fbe67ca2f1b | 235 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 5:6f30b4ea4020 | 236 | package.parameter[0]=SET_KD_UPPER_MOTOR; |
b0ssiz | 4:9fbe67ca2f1b | 237 | package.parameter[1]=IntKd[0]; |
b0ssiz | 4:9fbe67ca2f1b | 238 | package.parameter[2]=IntKd[1]; |
b0ssiz | 4:9fbe67ca2f1b | 239 | package.parameter[3]=FloatKd[0]; |
b0ssiz | 4:9fbe67ca2f1b | 240 | package.parameter[4]=FloatKd[1]; |
b0ssiz | 0:fc963e08d580 | 241 | |
b0ssiz | 0:fc963e08d580 | 242 | |
b0ssiz | 0:fc963e08d580 | 243 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 244 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 245 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 246 | } |
b0ssiz | 0:fc963e08d580 | 247 | |
b0ssiz | 0:fc963e08d580 | 248 | |
b0ssiz | 0:fc963e08d580 | 249 | |
b0ssiz | 5:6f30b4ea4020 | 250 | uint8_t Bear_Communicate::setLowMotorKd(uint8_t id,float Kd) |
b0ssiz | 5:6f30b4ea4020 | 251 | { |
b0ssiz | 5:6f30b4ea4020 | 252 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 5:6f30b4ea4020 | 253 | FloatSep(Kd,IntKd,FloatKd); |
b0ssiz | 5:6f30b4ea4020 | 254 | |
b0ssiz | 5:6f30b4ea4020 | 255 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:6f30b4ea4020 | 256 | |
b0ssiz | 5:6f30b4ea4020 | 257 | package.robotId = id; |
b0ssiz | 5:6f30b4ea4020 | 258 | package.length = 7; |
b0ssiz | 5:6f30b4ea4020 | 259 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 5:6f30b4ea4020 | 260 | package.parameter[0]=SET_KD_LOWER_MOTOR; |
b0ssiz | 5:6f30b4ea4020 | 261 | package.parameter[1]=IntKd[0]; |
b0ssiz | 5:6f30b4ea4020 | 262 | package.parameter[2]=IntKd[1]; |
b0ssiz | 5:6f30b4ea4020 | 263 | package.parameter[3]=FloatKd[0]; |
b0ssiz | 5:6f30b4ea4020 | 264 | package.parameter[4]=FloatKd[1]; |
b0ssiz | 5:6f30b4ea4020 | 265 | |
b0ssiz | 5:6f30b4ea4020 | 266 | |
b0ssiz | 5:6f30b4ea4020 | 267 | rs485_dirc=1; |
b0ssiz | 5:6f30b4ea4020 | 268 | wait_us(RS485_DELAY); |
b0ssiz | 5:6f30b4ea4020 | 269 | return com->sendCommunicatePacket(&package); |
b0ssiz | 5:6f30b4ea4020 | 270 | } |
b0ssiz | 5:6f30b4ea4020 | 271 | |
b0ssiz | 5:6f30b4ea4020 | 272 | |
b0ssiz | 5:6f30b4ea4020 | 273 | |
b0ssiz | 5:6f30b4ea4020 | 274 | uint8_t Bear_Communicate::getUpMotorKpKiKd(uint8_t id,float *Kp,float *Ki,float *Kd) |
b0ssiz | 0:fc963e08d580 | 275 | { |
b0ssiz | 4:9fbe67ca2f1b | 276 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 4:9fbe67ca2f1b | 277 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 4:9fbe67ca2f1b | 278 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 4:9fbe67ca2f1b | 279 | float int_buffer,float_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 280 | |
b0ssiz | 0:fc963e08d580 | 281 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 282 | |
b0ssiz | 0:fc963e08d580 | 283 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 284 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 285 | package.instructionErrorId = READ_DATA; |
b0ssiz | 5:6f30b4ea4020 | 286 | package.parameter[0]=GET_KP_UPPER_MOTOR; |
b0ssiz | 0:fc963e08d580 | 287 | package.parameter[1]=0x03; |
b0ssiz | 0:fc963e08d580 | 288 | |
b0ssiz | 0:fc963e08d580 | 289 | |
b0ssiz | 0:fc963e08d580 | 290 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 291 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 292 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 293 | |
b0ssiz | 0:fc963e08d580 | 294 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 295 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 296 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 297 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 4:9fbe67ca2f1b | 298 | IntKp[0]=package.parameter[0]; |
b0ssiz | 4:9fbe67ca2f1b | 299 | IntKp[1]=package.parameter[1]; |
b0ssiz | 4:9fbe67ca2f1b | 300 | FloatKp[0]=package.parameter[2]; |
b0ssiz | 4:9fbe67ca2f1b | 301 | FloatKp[1]=package.parameter[3]; |
b0ssiz | 4:9fbe67ca2f1b | 302 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKp); |
b0ssiz | 4:9fbe67ca2f1b | 303 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKp)/FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 304 | *Kp=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 305 | |
b0ssiz | 4:9fbe67ca2f1b | 306 | IntKi[0]=package.parameter[4]; |
b0ssiz | 4:9fbe67ca2f1b | 307 | IntKi[1]=package.parameter[5]; |
b0ssiz | 4:9fbe67ca2f1b | 308 | FloatKi[0]=package.parameter[6]; |
b0ssiz | 4:9fbe67ca2f1b | 309 | FloatKi[1]=package.parameter[7]; |
b0ssiz | 4:9fbe67ca2f1b | 310 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKi); |
b0ssiz | 4:9fbe67ca2f1b | 311 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKi)/FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 312 | *Ki=int_buffer+float_buffer; |
b0ssiz | 4:9fbe67ca2f1b | 313 | |
b0ssiz | 4:9fbe67ca2f1b | 314 | IntKi[0]=package.parameter[8]; |
b0ssiz | 4:9fbe67ca2f1b | 315 | IntKi[1]=package.parameter[9]; |
b0ssiz | 4:9fbe67ca2f1b | 316 | FloatKi[0]=package.parameter[10]; |
b0ssiz | 4:9fbe67ca2f1b | 317 | FloatKi[1]=package.parameter[11]; |
b0ssiz | 4:9fbe67ca2f1b | 318 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKd); |
b0ssiz | 4:9fbe67ca2f1b | 319 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKd)/FLOAT_CONVERTER; |
b0ssiz | 4:9fbe67ca2f1b | 320 | *Kd=int_buffer+float_buffer; |
b0ssiz | 0:fc963e08d580 | 321 | } |
b0ssiz | 0:fc963e08d580 | 322 | return status; |
b0ssiz | 0:fc963e08d580 | 323 | } |
b0ssiz | 0:fc963e08d580 | 324 | |
b0ssiz | 0:fc963e08d580 | 325 | |
b0ssiz | 5:6f30b4ea4020 | 326 | uint8_t Bear_Communicate::getLowMotorKpKiKd(uint8_t id,float *Kp,float *Ki,float *Kd) |
b0ssiz | 5:6f30b4ea4020 | 327 | { |
b0ssiz | 5:6f30b4ea4020 | 328 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 5:6f30b4ea4020 | 329 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 5:6f30b4ea4020 | 330 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 5:6f30b4ea4020 | 331 | float int_buffer,float_buffer; |
b0ssiz | 5:6f30b4ea4020 | 332 | |
b0ssiz | 5:6f30b4ea4020 | 333 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:6f30b4ea4020 | 334 | |
b0ssiz | 5:6f30b4ea4020 | 335 | package.robotId = id; |
b0ssiz | 5:6f30b4ea4020 | 336 | package.length = 4; |
b0ssiz | 5:6f30b4ea4020 | 337 | package.instructionErrorId = READ_DATA; |
b0ssiz | 5:6f30b4ea4020 | 338 | package.parameter[0]=GET_KP_LOWER_MOTOR; |
b0ssiz | 5:6f30b4ea4020 | 339 | package.parameter[1]=0x03; |
b0ssiz | 5:6f30b4ea4020 | 340 | |
b0ssiz | 5:6f30b4ea4020 | 341 | |
b0ssiz | 5:6f30b4ea4020 | 342 | rs485_dirc=1; |
b0ssiz | 5:6f30b4ea4020 | 343 | wait_us(RS485_DELAY); |
b0ssiz | 5:6f30b4ea4020 | 344 | com->sendCommunicatePacket(&package); |
b0ssiz | 5:6f30b4ea4020 | 345 | |
b0ssiz | 5:6f30b4ea4020 | 346 | rs485_dirc=0; |
b0ssiz | 5:6f30b4ea4020 | 347 | wait_us(RS485_DELAY); |
b0ssiz | 5:6f30b4ea4020 | 348 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 5:6f30b4ea4020 | 349 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 5:6f30b4ea4020 | 350 | IntKp[0]=package.parameter[0]; |
b0ssiz | 5:6f30b4ea4020 | 351 | IntKp[1]=package.parameter[1]; |
b0ssiz | 5:6f30b4ea4020 | 352 | FloatKp[0]=package.parameter[2]; |
b0ssiz | 5:6f30b4ea4020 | 353 | FloatKp[1]=package.parameter[3]; |
b0ssiz | 5:6f30b4ea4020 | 354 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKp); |
b0ssiz | 5:6f30b4ea4020 | 355 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKp)/FLOAT_CONVERTER; |
b0ssiz | 5:6f30b4ea4020 | 356 | *Kp=int_buffer+float_buffer; |
b0ssiz | 5:6f30b4ea4020 | 357 | |
b0ssiz | 5:6f30b4ea4020 | 358 | IntKi[0]=package.parameter[4]; |
b0ssiz | 5:6f30b4ea4020 | 359 | IntKi[1]=package.parameter[5]; |
b0ssiz | 5:6f30b4ea4020 | 360 | FloatKi[0]=package.parameter[6]; |
b0ssiz | 5:6f30b4ea4020 | 361 | FloatKi[1]=package.parameter[7]; |
b0ssiz | 5:6f30b4ea4020 | 362 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKi); |
b0ssiz | 5:6f30b4ea4020 | 363 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKi)/FLOAT_CONVERTER; |
b0ssiz | 5:6f30b4ea4020 | 364 | *Ki=int_buffer+float_buffer; |
b0ssiz | 5:6f30b4ea4020 | 365 | |
b0ssiz | 5:6f30b4ea4020 | 366 | IntKi[0]=package.parameter[8]; |
b0ssiz | 5:6f30b4ea4020 | 367 | IntKi[1]=package.parameter[9]; |
b0ssiz | 5:6f30b4ea4020 | 368 | FloatKi[0]=package.parameter[10]; |
b0ssiz | 5:6f30b4ea4020 | 369 | FloatKi[1]=package.parameter[11]; |
b0ssiz | 5:6f30b4ea4020 | 370 | int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKd); |
b0ssiz | 5:6f30b4ea4020 | 371 | float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKd)/FLOAT_CONVERTER; |
b0ssiz | 5:6f30b4ea4020 | 372 | *Kd=int_buffer+float_buffer; |
b0ssiz | 5:6f30b4ea4020 | 373 | } |
b0ssiz | 5:6f30b4ea4020 | 374 | return status; |
b0ssiz | 5:6f30b4ea4020 | 375 | } |
b0ssiz | 5:6f30b4ea4020 | 376 | |
b0ssiz | 5:6f30b4ea4020 | 377 | |
b0ssiz | 5:6f30b4ea4020 | 378 | |
b0ssiz | 0:fc963e08d580 | 379 | |
b0ssiz | 0:fc963e08d580 | 380 | ///////////////////////////////////////////// Save Data to EEPROM \\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\ |
b0ssiz | 0:fc963e08d580 | 381 | |
b0ssiz | 0:fc963e08d580 | 382 | |
b0ssiz | 4:9fbe67ca2f1b | 383 | uint8_t Bear_Communicate::setMargin(uint8_t id,float margin) |
b0ssiz | 0:fc963e08d580 | 384 | { |
b0ssiz | 0:fc963e08d580 | 385 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 386 | |
b0ssiz | 0:fc963e08d580 | 387 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 388 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 389 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 0:fc963e08d580 | 390 | package.parameter[0]=SET_MARGIN; |
b0ssiz | 0:fc963e08d580 | 391 | package.parameter[1]=margin; |
b0ssiz | 0:fc963e08d580 | 392 | |
b0ssiz | 0:fc963e08d580 | 393 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 394 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 395 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 396 | } |
b0ssiz | 0:fc963e08d580 | 397 | |
b0ssiz | 0:fc963e08d580 | 398 | |
b0ssiz | 0:fc963e08d580 | 399 | |
b0ssiz | 4:9fbe67ca2f1b | 400 | uint8_t Bear_Communicate::getMargin(uint8_t id,float *margin) |
b0ssiz | 0:fc963e08d580 | 401 | { |
b0ssiz | 0:fc963e08d580 | 402 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 403 | |
b0ssiz | 0:fc963e08d580 | 404 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 405 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 406 | package.instructionErrorId = READ_DATA; |
b0ssiz | 0:fc963e08d580 | 407 | package.parameter[0]=GET_MARGIN; |
b0ssiz | 0:fc963e08d580 | 408 | package.parameter[1]=0x01; |
b0ssiz | 0:fc963e08d580 | 409 | |
b0ssiz | 0:fc963e08d580 | 410 | |
b0ssiz | 0:fc963e08d580 | 411 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 412 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 413 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 414 | |
b0ssiz | 0:fc963e08d580 | 415 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 416 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 417 | uint8_t status=com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 418 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 0:fc963e08d580 | 419 | |
b0ssiz | 0:fc963e08d580 | 420 | *margin=package.parameter[0]; |
b0ssiz | 0:fc963e08d580 | 421 | } |
b0ssiz | 0:fc963e08d580 | 422 | return status; |
b0ssiz | 0:fc963e08d580 | 423 | } |
b0ssiz | 0:fc963e08d580 | 424 | |
b0ssiz | 0:fc963e08d580 | 425 | |
b0ssiz | 0:fc963e08d580 | 426 | |
b0ssiz | 4:9fbe67ca2f1b | 427 | uint8_t Bear_Communicate::setHeight(uint8_t id,float height) |
b0ssiz | 0:fc963e08d580 | 428 | { |
b0ssiz | 0:fc963e08d580 | 429 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 430 | |
b0ssiz | 0:fc963e08d580 | 431 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 432 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 433 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 0:fc963e08d580 | 434 | package.parameter[0]=SET_HEIGHT; |
b0ssiz | 0:fc963e08d580 | 435 | package.parameter[1]=height; |
b0ssiz | 0:fc963e08d580 | 436 | |
b0ssiz | 0:fc963e08d580 | 437 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 438 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 439 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 440 | } |
b0ssiz | 0:fc963e08d580 | 441 | |
b0ssiz | 0:fc963e08d580 | 442 | |
b0ssiz | 0:fc963e08d580 | 443 | |
b0ssiz | 4:9fbe67ca2f1b | 444 | uint8_t Bear_Communicate::getHeight(uint8_t id,float *height) |
b0ssiz | 0:fc963e08d580 | 445 | { |
b0ssiz | 0:fc963e08d580 | 446 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 447 | |
b0ssiz | 0:fc963e08d580 | 448 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 449 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 450 | package.instructionErrorId = READ_DATA; |
b0ssiz | 0:fc963e08d580 | 451 | package.parameter[0]=GET_HEIGHT; |
b0ssiz | 0:fc963e08d580 | 452 | package.parameter[1]=0x01; |
b0ssiz | 0:fc963e08d580 | 453 | |
b0ssiz | 0:fc963e08d580 | 454 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 455 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 456 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 457 | |
b0ssiz | 0:fc963e08d580 | 458 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 459 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 460 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 461 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 0:fc963e08d580 | 462 | |
b0ssiz | 0:fc963e08d580 | 463 | *height = package.parameter[0]; |
b0ssiz | 0:fc963e08d580 | 464 | |
b0ssiz | 0:fc963e08d580 | 465 | } |
b0ssiz | 0:fc963e08d580 | 466 | return status; |
b0ssiz | 0:fc963e08d580 | 467 | } |
b0ssiz | 0:fc963e08d580 | 468 | |
b0ssiz | 0:fc963e08d580 | 469 | |
b0ssiz | 0:fc963e08d580 | 470 | |
b0ssiz | 4:9fbe67ca2f1b | 471 | uint8_t Bear_Communicate::setWheelPos(uint8_t id,float WheelPos) |
b0ssiz | 0:fc963e08d580 | 472 | { |
b0ssiz | 0:fc963e08d580 | 473 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 474 | |
b0ssiz | 0:fc963e08d580 | 475 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 476 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 477 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 0:fc963e08d580 | 478 | package.parameter[0]=SET_WHEELPOS; |
b0ssiz | 0:fc963e08d580 | 479 | package.parameter[1]=WheelPos; |
b0ssiz | 0:fc963e08d580 | 480 | |
b0ssiz | 0:fc963e08d580 | 481 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 482 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 483 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 484 | } |
b0ssiz | 0:fc963e08d580 | 485 | |
b0ssiz | 0:fc963e08d580 | 486 | |
b0ssiz | 0:fc963e08d580 | 487 | |
b0ssiz | 4:9fbe67ca2f1b | 488 | uint8_t Bear_Communicate::getWheelPos(uint8_t id,float *WheelPos) |
b0ssiz | 0:fc963e08d580 | 489 | { |
b0ssiz | 0:fc963e08d580 | 490 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 491 | |
b0ssiz | 0:fc963e08d580 | 492 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 493 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 494 | package.instructionErrorId = READ_DATA; |
b0ssiz | 0:fc963e08d580 | 495 | package.parameter[0]=GET_WHEELPOS; |
b0ssiz | 0:fc963e08d580 | 496 | package.parameter[1]=0x01; |
b0ssiz | 0:fc963e08d580 | 497 | |
b0ssiz | 0:fc963e08d580 | 498 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 499 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 500 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 501 | |
b0ssiz | 0:fc963e08d580 | 502 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 503 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 504 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 505 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 0:fc963e08d580 | 506 | |
b0ssiz | 0:fc963e08d580 | 507 | *WheelPos = package.parameter[0]; |
b0ssiz | 0:fc963e08d580 | 508 | } |
b0ssiz | 0:fc963e08d580 | 509 | return status; |
b0ssiz | 0:fc963e08d580 | 510 | } |
b0ssiz | 0:fc963e08d580 | 511 | |
b0ssiz | 4:9fbe67ca2f1b | 512 | uint8_t Bear_Communicate::setMagData(uint8_t id,float x_max,float y_max,float z_max,float x_min,float y_min,float z_min) |
b0ssiz | 0:fc963e08d580 | 513 | { |
b0ssiz | 0:fc963e08d580 | 514 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 515 | |
b0ssiz | 0:fc963e08d580 | 516 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 517 | package.length = 9; |
b0ssiz | 0:fc963e08d580 | 518 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 0:fc963e08d580 | 519 | package.parameter[0]=SET_MAG_X_MAX; |
b0ssiz | 0:fc963e08d580 | 520 | package.parameter[1]=x_max; |
b0ssiz | 0:fc963e08d580 | 521 | package.parameter[2]=y_max; |
b0ssiz | 0:fc963e08d580 | 522 | package.parameter[3]=z_max; |
b0ssiz | 0:fc963e08d580 | 523 | package.parameter[4]=x_min; |
b0ssiz | 0:fc963e08d580 | 524 | package.parameter[5]=y_min; |
b0ssiz | 0:fc963e08d580 | 525 | package.parameter[6]=z_min; |
b0ssiz | 0:fc963e08d580 | 526 | |
b0ssiz | 0:fc963e08d580 | 527 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 528 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 529 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 530 | } |
b0ssiz | 0:fc963e08d580 | 531 | |
b0ssiz | 4:9fbe67ca2f1b | 532 | uint8_t Bear_Communicate::getMagData(uint8_t id,float *x_max,float *y_max,float *z_max,float *x_min,float *y_min,float *z_min) |
b0ssiz | 0:fc963e08d580 | 533 | { |
b0ssiz | 0:fc963e08d580 | 534 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 535 | |
b0ssiz | 0:fc963e08d580 | 536 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 537 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 538 | package.instructionErrorId = READ_DATA; |
b0ssiz | 0:fc963e08d580 | 539 | package.parameter[0]=GET_MAG_X_MAX; |
b0ssiz | 0:fc963e08d580 | 540 | package.parameter[1]=0x06; |
b0ssiz | 0:fc963e08d580 | 541 | |
b0ssiz | 0:fc963e08d580 | 542 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 543 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 544 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 545 | |
b0ssiz | 0:fc963e08d580 | 546 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 547 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 548 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 549 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 0:fc963e08d580 | 550 | |
b0ssiz | 0:fc963e08d580 | 551 | *x_max=package.parameter[0]; |
b0ssiz | 0:fc963e08d580 | 552 | *y_max=package.parameter[1]; |
b0ssiz | 0:fc963e08d580 | 553 | *z_max=package.parameter[2]; |
b0ssiz | 0:fc963e08d580 | 554 | *x_min=package.parameter[3]; |
b0ssiz | 0:fc963e08d580 | 555 | *y_min=package.parameter[4]; |
b0ssiz | 0:fc963e08d580 | 556 | *z_min=package.parameter[5]; |
b0ssiz | 0:fc963e08d580 | 557 | |
b0ssiz | 0:fc963e08d580 | 558 | } |
b0ssiz | 0:fc963e08d580 | 559 | return status; |
b0ssiz | 0:fc963e08d580 | 560 | } |
b0ssiz | 0:fc963e08d580 | 561 | |
b0ssiz | 0:fc963e08d580 | 562 | |
b0ssiz | 0:fc963e08d580 | 563 | |
b0ssiz | 4:9fbe67ca2f1b | 564 | uint8_t Bear_Communicate::setOffset(uint8_t id,float offset_y,float offset_z) |
b0ssiz | 0:fc963e08d580 | 565 | { |
b0ssiz | 0:fc963e08d580 | 566 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 567 | |
b0ssiz | 0:fc963e08d580 | 568 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 569 | package.length = 5; |
b0ssiz | 0:fc963e08d580 | 570 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 0:fc963e08d580 | 571 | package.parameter[0]=SET_OFFSET_Y; |
b0ssiz | 0:fc963e08d580 | 572 | package.parameter[1]=offset_y; |
b0ssiz | 0:fc963e08d580 | 573 | package.parameter[2]=offset_z; |
b0ssiz | 0:fc963e08d580 | 574 | |
b0ssiz | 0:fc963e08d580 | 575 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 576 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 577 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 578 | } |
b0ssiz | 0:fc963e08d580 | 579 | |
b0ssiz | 0:fc963e08d580 | 580 | |
b0ssiz | 0:fc963e08d580 | 581 | |
b0ssiz | 4:9fbe67ca2f1b | 582 | uint8_t Bear_Communicate::getOffset(uint8_t id,float *offset_y,float *offset_z) |
b0ssiz | 0:fc963e08d580 | 583 | { |
b0ssiz | 0:fc963e08d580 | 584 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 585 | |
b0ssiz | 0:fc963e08d580 | 586 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 587 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 588 | package.instructionErrorId = READ_DATA; |
b0ssiz | 0:fc963e08d580 | 589 | package.parameter[0]=GET_MAG_X_MAX; |
b0ssiz | 0:fc963e08d580 | 590 | package.parameter[1]=0x02; |
b0ssiz | 0:fc963e08d580 | 591 | |
b0ssiz | 0:fc963e08d580 | 592 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 593 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 594 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 595 | |
b0ssiz | 0:fc963e08d580 | 596 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 597 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 598 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 599 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 0:fc963e08d580 | 600 | |
b0ssiz | 0:fc963e08d580 | 601 | *offset_y=package.parameter[0]; |
b0ssiz | 0:fc963e08d580 | 602 | *offset_z=package.parameter[1]; |
b0ssiz | 0:fc963e08d580 | 603 | } |
b0ssiz | 0:fc963e08d580 | 604 | return status; |
b0ssiz | 0:fc963e08d580 | 605 | } |
b0ssiz | 0:fc963e08d580 | 606 | |
b0ssiz | 0:fc963e08d580 | 607 | |
b0ssiz | 0:fc963e08d580 | 608 | |
b0ssiz | 4:9fbe67ca2f1b | 609 | uint8_t Bear_Communicate::setBodyLength(uint8_t id,float body_length) |
b0ssiz | 0:fc963e08d580 | 610 | { |
b0ssiz | 0:fc963e08d580 | 611 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 612 | |
b0ssiz | 0:fc963e08d580 | 613 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 614 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 615 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 0:fc963e08d580 | 616 | package.parameter[0]=SET_BODY_LENGTH; |
b0ssiz | 0:fc963e08d580 | 617 | package.parameter[1]=body_length; |
b0ssiz | 0:fc963e08d580 | 618 | |
b0ssiz | 0:fc963e08d580 | 619 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 620 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 621 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 622 | } |
b0ssiz | 0:fc963e08d580 | 623 | |
b0ssiz | 0:fc963e08d580 | 624 | |
b0ssiz | 0:fc963e08d580 | 625 | |
b0ssiz | 0:fc963e08d580 | 626 | |
b0ssiz | 4:9fbe67ca2f1b | 627 | uint8_t Bear_Communicate::getBodyLength(uint8_t id,float *body_length) |
b0ssiz | 0:fc963e08d580 | 628 | { |
b0ssiz | 0:fc963e08d580 | 629 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 630 | |
b0ssiz | 0:fc963e08d580 | 631 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 632 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 633 | package.instructionErrorId = READ_DATA; |
b0ssiz | 0:fc963e08d580 | 634 | package.parameter[0]=GET_BODY_LENGTH; |
b0ssiz | 0:fc963e08d580 | 635 | package.parameter[1]=0x01; |
b0ssiz | 0:fc963e08d580 | 636 | |
b0ssiz | 0:fc963e08d580 | 637 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 638 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 639 | com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 640 | |
b0ssiz | 0:fc963e08d580 | 641 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 642 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 643 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 644 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 0:fc963e08d580 | 645 | |
b0ssiz | 0:fc963e08d580 | 646 | *body_length=package.parameter[0]; |
b0ssiz | 0:fc963e08d580 | 647 | } |
b0ssiz | 0:fc963e08d580 | 648 | return status; |
b0ssiz | 0:fc963e08d580 | 649 | } |
b0ssiz | 0:fc963e08d580 | 650 | |
b0ssiz | 4:9fbe67ca2f1b | 651 | uint8_t Bear_Communicate::setAngleRange(uint8_t id,float max_angle,float min_angle) |
b0ssiz | 0:fc963e08d580 | 652 | { |
b0ssiz | 0:fc963e08d580 | 653 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 654 | |
b0ssiz | 0:fc963e08d580 | 655 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 656 | package.length = 5; |
b0ssiz | 0:fc963e08d580 | 657 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 0:fc963e08d580 | 658 | package.parameter[0]=SET_MAX_ANGLE; |
b0ssiz | 0:fc963e08d580 | 659 | package.parameter[1]=max_angle; |
b0ssiz | 0:fc963e08d580 | 660 | package.parameter[2]=min_angle; |
b0ssiz | 0:fc963e08d580 | 661 | |
b0ssiz | 0:fc963e08d580 | 662 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 663 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 664 | return com->sendCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 665 | } |
b0ssiz | 0:fc963e08d580 | 666 | |
b0ssiz | 0:fc963e08d580 | 667 | |
b0ssiz | 0:fc963e08d580 | 668 | |
b0ssiz | 0:fc963e08d580 | 669 | |
b0ssiz | 4:9fbe67ca2f1b | 670 | uint8_t Bear_Communicate::getAngleRange(uint8_t id,float *max_angle,float *min_angle) |
b0ssiz | 0:fc963e08d580 | 671 | { |
b0ssiz | 0:fc963e08d580 | 672 | |
b0ssiz | 0:fc963e08d580 | 673 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 0:fc963e08d580 | 674 | |
b0ssiz | 0:fc963e08d580 | 675 | package.robotId = id; |
b0ssiz | 0:fc963e08d580 | 676 | package.length = 4; |
b0ssiz | 0:fc963e08d580 | 677 | package.instructionErrorId = READ_DATA; |
b0ssiz | 0:fc963e08d580 | 678 | package.parameter[0]=GET_BODY_LENGTH; |
b0ssiz | 0:fc963e08d580 | 679 | package.parameter[1]=0x02; |
b0ssiz | 0:fc963e08d580 | 680 | |
b0ssiz | 0:fc963e08d580 | 681 | rs485_dirc=1; |
b0ssiz | 0:fc963e08d580 | 682 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 683 | com->sendCommunicatePacket(&package); |
b0ssiz | 4:9fbe67ca2f1b | 684 | |
b0ssiz | 0:fc963e08d580 | 685 | rs485_dirc=0; |
b0ssiz | 0:fc963e08d580 | 686 | wait_us(RS485_DELAY); |
b0ssiz | 0:fc963e08d580 | 687 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 0:fc963e08d580 | 688 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 0:fc963e08d580 | 689 | |
b0ssiz | 0:fc963e08d580 | 690 | *max_angle=package.parameter[0]; |
b0ssiz | 0:fc963e08d580 | 691 | *min_angle=package.parameter[1]; |
b0ssiz | 0:fc963e08d580 | 692 | |
b0ssiz | 0:fc963e08d580 | 693 | } |
b0ssiz | 0:fc963e08d580 | 694 | return status; |
b0ssiz | 0:fc963e08d580 | 695 | } |