ใช้สื่อสารกันระหว่าง Brain และ Motion
Dependencies: Fork_Boss_Communication_Robot
Dependents: Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more
Diff: BEAR_Protocol.h
- Revision:
- 0:fc963e08d580
- Child:
- 4:9fbe67ca2f1b
diff -r 000000000000 -r fc963e08d580 BEAR_Protocol.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BEAR_Protocol.h Wed Dec 23 13:05:53 2015 +0000 @@ -0,0 +1,46 @@ +#include "mbed.h" +#include "iSerial.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); + +// Set Command + uint8_t SetID(uint8_t,uint8_t); + uint8_t SetMotorPos(uint8_t,float,float); + uint8_t SetKp(uint8_t,float); + uint8_t SetKi(uint8_t,float); + uint8_t SetKd(uint8_t,float); + //EEPROM + uint8_t SetMargin(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 SetAngleRange(uint8_t,float,float); + +// Get Command + uint8_t GetMotorPos(uint8_t,float*,float*); + uint8_t GetKpKiKd(uint8_t,float*,float*,float*); + //EEPROM + uint8_t GetMargin(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 GetAngleRange(uint8_t,float*,float*); +}; \ No newline at end of file