ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
BEAR_Protocol.h@10:2398eeafa967, 2016-01-22 (annotated)
- Committer:
- b0ssiz
- Date:
- Fri Jan 22 02:25:26 2016 +0000
- Revision:
- 10:2398eeafa967
- Parent:
- 8:e1f43b1df0b5
- Child:
- 11:b34eababcf56
Update; -Add function set and get UpperLink and LowerLink; -Add macro to Command.h
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 "Command.h" |
b0ssiz | 0:fc963e08d580 | 3 | #include "communication.h" |
b0ssiz | 0:fc963e08d580 | 4 | |
b0ssiz | 0:fc963e08d580 | 5 | #define SERIAL_DEBUG |
b0ssiz | 0:fc963e08d580 | 6 | #define RS485_DELAY 90 |
b0ssiz | 0:fc963e08d580 | 7 | #define RS485_DIRC PA_14 |
b0ssiz | 0:fc963e08d580 | 8 | |
b0ssiz | 0:fc963e08d580 | 9 | |
b0ssiz | 0:fc963e08d580 | 10 | |
b0ssiz | 0:fc963e08d580 | 11 | class Bear_Communicate |
b0ssiz | 0:fc963e08d580 | 12 | { |
b0ssiz | 0:fc963e08d580 | 13 | private: |
b0ssiz | 0:fc963e08d580 | 14 | COMMUNICATION *com; |
b0ssiz | 0:fc963e08d580 | 15 | |
b0ssiz | 0:fc963e08d580 | 16 | public: |
b0ssiz | 0:fc963e08d580 | 17 | Bear_Communicate(PinName,PinName,int); |
b0ssiz | 4:9fbe67ca2f1b | 18 | void FloatSep(float,uint8_t*,uint8_t*); |
b0ssiz | 0:fc963e08d580 | 19 | // Set Command |
b0ssiz | 4:9fbe67ca2f1b | 20 | uint8_t setID(uint8_t,uint8_t); |
b0ssiz | 4:9fbe67ca2f1b | 21 | uint8_t setMotorPos(uint8_t,float,float); |
b0ssiz | 5:6f30b4ea4020 | 22 | uint8_t setUpMotorKp(uint8_t,float); |
b0ssiz | 5:6f30b4ea4020 | 23 | uint8_t setLowMotorKp(uint8_t,float); |
b0ssiz | 5:6f30b4ea4020 | 24 | uint8_t setUpMotorKi(uint8_t,float); |
b0ssiz | 5:6f30b4ea4020 | 25 | uint8_t setLowMotorKi(uint8_t,float); |
b0ssiz | 5:6f30b4ea4020 | 26 | uint8_t setUpMotorKd(uint8_t,float); |
b0ssiz | 5:6f30b4ea4020 | 27 | uint8_t setLowMotorKd(uint8_t,float); |
b0ssiz | 0:fc963e08d580 | 28 | //EEPROM |
b0ssiz | 8:e1f43b1df0b5 | 29 | uint8_t setUpMargin(uint8_t,float); |
b0ssiz | 8:e1f43b1df0b5 | 30 | uint8_t setLowMargin(uint8_t,float); |
b0ssiz | 4:9fbe67ca2f1b | 31 | uint8_t setHeight(uint8_t,float); |
b0ssiz | 4:9fbe67ca2f1b | 32 | uint8_t setWheelPos(uint8_t,float); |
b0ssiz | 4:9fbe67ca2f1b | 33 | uint8_t setMagData(uint8_t,float,float,float,float,float,float); |
b0ssiz | 4:9fbe67ca2f1b | 34 | uint8_t setOffset(uint8_t,float,float); |
b0ssiz | 4:9fbe67ca2f1b | 35 | uint8_t setBodyLength(uint8_t,float); |
b0ssiz | 8:e1f43b1df0b5 | 36 | uint8_t setUpAngleRange(uint8_t,float,float); |
b0ssiz | 8:e1f43b1df0b5 | 37 | uint8_t setLowAngleRange(uint8_t,float,float); |
b0ssiz | 10:2398eeafa967 | 38 | uint8_t setUpLinkLength(uint8_t,float); |
b0ssiz | 10:2398eeafa967 | 39 | uint8_t setLowLinkLength(uint8_t,float); |
b0ssiz | 4:9fbe67ca2f1b | 40 | |
b0ssiz | 4:9fbe67ca2f1b | 41 | // get Command |
b0ssiz | 4:9fbe67ca2f1b | 42 | uint8_t getMotorPos(uint8_t,float*,float*); |
b0ssiz | 5:6f30b4ea4020 | 43 | uint8_t getUpMotorKpKiKd(uint8_t,float*,float*,float*); |
b0ssiz | 5:6f30b4ea4020 | 44 | uint8_t getLowMotorKpKiKd(uint8_t,float*,float*,float*); |
b0ssiz | 0:fc963e08d580 | 45 | //EEPROM |
b0ssiz | 8:e1f43b1df0b5 | 46 | uint8_t getUpMargin(uint8_t,float*); |
b0ssiz | 8:e1f43b1df0b5 | 47 | uint8_t getLowMargin(uint8_t,float*); |
b0ssiz | 4:9fbe67ca2f1b | 48 | uint8_t getHeight(uint8_t,float*); |
b0ssiz | 4:9fbe67ca2f1b | 49 | uint8_t getWheelPos(uint8_t,float*); |
b0ssiz | 4:9fbe67ca2f1b | 50 | uint8_t getMagData(uint8_t,float*,float*,float*,float*,float*,float*); |
b0ssiz | 4:9fbe67ca2f1b | 51 | uint8_t getOffset(uint8_t,float*,float*); |
b0ssiz | 4:9fbe67ca2f1b | 52 | uint8_t getBodyLength(uint8_t,float*); |
b0ssiz | 8:e1f43b1df0b5 | 53 | uint8_t getUpAngleRange(uint8_t,float*,float*); |
b0ssiz | 8:e1f43b1df0b5 | 54 | uint8_t getLowAngleRange(uint8_t,float*,float*); |
b0ssiz | 10:2398eeafa967 | 55 | uint8_t getUpLinkLength(uint8_t,float*); |
b0ssiz | 10:2398eeafa967 | 56 | uint8_t getLowLinkLength(uint8_t,float*); |
b0ssiz | 10:2398eeafa967 | 57 | |
b0ssiz | 8:e1f43b1df0b5 | 58 | |
b0ssiz | 8:e1f43b1df0b5 | 59 | uint8_t saveDataToEEPROM(uint8_t,uint8_t); |
b0ssiz | 0:fc963e08d580 | 60 | }; |