ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
BEAR_Protocol.h@0:fc963e08d580, 2015-12-23 (annotated)
- Committer:
- b0ssiz
- Date:
- Wed Dec 23 13:05:53 2015 +0000
- Revision:
- 0:fc963e08d580
- Child:
- 4:9fbe67ca2f1b
Create BEAR_Protocol;
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 "iSerial.h" |
b0ssiz | 0:fc963e08d580 | 3 | #include "Command.h" |
b0ssiz | 0:fc963e08d580 | 4 | #include "communication.h" |
b0ssiz | 0:fc963e08d580 | 5 | |
b0ssiz | 0:fc963e08d580 | 6 | #define SERIAL_DEBUG |
b0ssiz | 0:fc963e08d580 | 7 | #define RS485_DELAY 90 |
b0ssiz | 0:fc963e08d580 | 8 | #define RS485_DIRC PA_14 |
b0ssiz | 0:fc963e08d580 | 9 | |
b0ssiz | 0:fc963e08d580 | 10 | |
b0ssiz | 0:fc963e08d580 | 11 | |
b0ssiz | 0:fc963e08d580 | 12 | class Bear_Communicate |
b0ssiz | 0:fc963e08d580 | 13 | { |
b0ssiz | 0:fc963e08d580 | 14 | private: |
b0ssiz | 0:fc963e08d580 | 15 | COMMUNICATION *com; |
b0ssiz | 0:fc963e08d580 | 16 | |
b0ssiz | 0:fc963e08d580 | 17 | public: |
b0ssiz | 0:fc963e08d580 | 18 | Bear_Communicate(PinName,PinName,int); |
b0ssiz | 0:fc963e08d580 | 19 | |
b0ssiz | 0:fc963e08d580 | 20 | // Set Command |
b0ssiz | 0:fc963e08d580 | 21 | uint8_t SetID(uint8_t,uint8_t); |
b0ssiz | 0:fc963e08d580 | 22 | uint8_t SetMotorPos(uint8_t,float,float); |
b0ssiz | 0:fc963e08d580 | 23 | uint8_t SetKp(uint8_t,float); |
b0ssiz | 0:fc963e08d580 | 24 | uint8_t SetKi(uint8_t,float); |
b0ssiz | 0:fc963e08d580 | 25 | uint8_t SetKd(uint8_t,float); |
b0ssiz | 0:fc963e08d580 | 26 | //EEPROM |
b0ssiz | 0:fc963e08d580 | 27 | uint8_t SetMargin(uint8_t,float); |
b0ssiz | 0:fc963e08d580 | 28 | uint8_t SetHeight(uint8_t,float); |
b0ssiz | 0:fc963e08d580 | 29 | uint8_t SetWheelPos(uint8_t,float); |
b0ssiz | 0:fc963e08d580 | 30 | uint8_t SetMagData(uint8_t,float,float,float,float,float,float); |
b0ssiz | 0:fc963e08d580 | 31 | uint8_t SetOffset(uint8_t,float,float); |
b0ssiz | 0:fc963e08d580 | 32 | uint8_t SetBodyLength(uint8_t,float); |
b0ssiz | 0:fc963e08d580 | 33 | uint8_t SetAngleRange(uint8_t,float,float); |
b0ssiz | 0:fc963e08d580 | 34 | |
b0ssiz | 0:fc963e08d580 | 35 | // Get Command |
b0ssiz | 0:fc963e08d580 | 36 | uint8_t GetMotorPos(uint8_t,float*,float*); |
b0ssiz | 0:fc963e08d580 | 37 | uint8_t GetKpKiKd(uint8_t,float*,float*,float*); |
b0ssiz | 0:fc963e08d580 | 38 | //EEPROM |
b0ssiz | 0:fc963e08d580 | 39 | uint8_t GetMargin(uint8_t,float*); |
b0ssiz | 0:fc963e08d580 | 40 | uint8_t GetHeight(uint8_t,float*); |
b0ssiz | 0:fc963e08d580 | 41 | uint8_t GetWheelPos(uint8_t,float*); |
b0ssiz | 0:fc963e08d580 | 42 | uint8_t GetMagData(uint8_t,float*,float*,float*,float*,float*,float*); |
b0ssiz | 0:fc963e08d580 | 43 | uint8_t GetOffset(uint8_t,float*,float*); |
b0ssiz | 0:fc963e08d580 | 44 | uint8_t GetBodyLength(uint8_t,float*); |
b0ssiz | 0:fc963e08d580 | 45 | uint8_t GetAngleRange(uint8_t,float*,float*); |
b0ssiz | 0:fc963e08d580 | 46 | }; |