BE@R lab / BEAR_Protocol

ใช้สื่อสารกันระหว่าง Brain และ Motion

Dependencies:   Fork_Boss_Communication_Robot

Dependents:   Program_BEAR_Protocol SwitchMode MPU9250AHRS-PGear_Stabilizer SwitchMode ... more

Files at this revision

API Documentation at this revision

Revision 13:45286c47ca0d, committed 2016-01-28

Comitter:
soulx
Date:
Thu Jan 28 15:23:15 2016 +0000
Parent:
12:6296cb35f853
Commit message:
boz edit

Changed in this revision

BEAR_Protocol.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 6296cb35f853 -r 45286c47ca0d BEAR_Protocol.cpp
--- a/BEAR_Protocol.cpp	Wed Jan 27 12:53:16 2016 +0000
+++ b/BEAR_Protocol.cpp	Thu Jan 28 15:23:15 2016 +0000
@@ -339,10 +339,10 @@
         float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKi)/FLOAT_CONVERTER;
         *Ki=int_buffer+float_buffer;
 
-        IntKi[0]=package.parameter[8];
-        IntKi[1]=package.parameter[9];
-        FloatKi[0]=package.parameter[10];
-        FloatKi[1]=package.parameter[11];
+        IntKd[0]=package.parameter[8];
+        IntKd[1]=package.parameter[9];
+        FloatKd[0]=package.parameter[10];
+        FloatKd[1]=package.parameter[11];
         int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKd);
         float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKd)/FLOAT_CONVERTER;
         *Kd=int_buffer+float_buffer;
@@ -390,10 +390,10 @@
         float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKi)/FLOAT_CONVERTER;
         *Ki=int_buffer+float_buffer;
 
-        IntKi[0]=package.parameter[8];
-        IntKi[1]=package.parameter[9];
-        FloatKi[0]=package.parameter[10];
-        FloatKi[1]=package.parameter[11];
+        IntKd[0]=package.parameter[8];
+        IntKd[1]=package.parameter[9];
+        FloatKd[0]=package.parameter[10];
+        FloatKd[1]=package.parameter[11];
         int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKd);
         float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKd)/FLOAT_CONVERTER;
         *Kd=int_buffer+float_buffer;