Communication for reciever
Dependencies: Fork_Boss_Communication_Robot
Dependents: BEAR_Motion BEAR_Motion_Editing4Betago
Fork of BEAR_Protocol by
Receiver.cpp@17:774eec1470d8, 2016-01-26 (annotated)
- Committer:
- b0ssiz
- Date:
- Tue Jan 26 18:14:50 2016 +0000
- Revision:
- 17:774eec1470d8
- Parent:
- 15:fe0cc017c66d
- Child:
- 22:894bca54ae1a
fixed function in Reciever.cpp
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
b0ssiz | 5:baf5576a14bd | 1 | #include "mbed.h" |
b0ssiz | 5:baf5576a14bd | 2 | #include "Receiver.h" |
b0ssiz | 7:a0ea8c127611 | 3 | |
b0ssiz | 5:baf5576a14bd | 4 | |
b0ssiz | 5:baf5576a14bd | 5 | DigitalOut rs485_dirc(RS485_DIRC); |
b0ssiz | 5:baf5576a14bd | 6 | |
b0ssiz | 5:baf5576a14bd | 7 | Bear_Receiver::Bear_Receiver(PinName tx,PinName rx,int baudrate) |
b0ssiz | 5:baf5576a14bd | 8 | { |
b0ssiz | 5:baf5576a14bd | 9 | com = new COMMUNICATION(tx,rx,baudrate); |
b0ssiz | 5:baf5576a14bd | 10 | } |
b0ssiz | 5:baf5576a14bd | 11 | |
b0ssiz | 8:2d34916ac178 | 12 | uint8_t Bear_Receiver::ReceiveCommand(uint8_t *id,uint8_t *data_array,uint8_t *ins) |
b0ssiz | 5:baf5576a14bd | 13 | { |
b0ssiz | 5:baf5576a14bd | 14 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:baf5576a14bd | 15 | |
b0ssiz | 5:baf5576a14bd | 16 | rs485_dirc=0; |
b0ssiz | 5:baf5576a14bd | 17 | wait_us(RS485_DELAY); |
b0ssiz | 5:baf5576a14bd | 18 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 5:baf5576a14bd | 19 | |
b0ssiz | 5:baf5576a14bd | 20 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 5:baf5576a14bd | 21 | |
b0ssiz | 8:2d34916ac178 | 22 | *id = package.robotId; |
b0ssiz | 15:fe0cc017c66d | 23 | for(int i=0; i<30; i++) { |
b0ssiz | 15:fe0cc017c66d | 24 | data_array[i] = package.parameter[i]; |
b0ssiz | 15:fe0cc017c66d | 25 | } |
b0ssiz | 8:2d34916ac178 | 26 | *ins=package.instructionErrorId; |
b0ssiz | 5:baf5576a14bd | 27 | |
b0ssiz | 5:baf5576a14bd | 28 | } |
b0ssiz | 5:baf5576a14bd | 29 | return status; |
b0ssiz | 5:baf5576a14bd | 30 | } |
b0ssiz | 5:baf5576a14bd | 31 | |
b0ssiz | 5:baf5576a14bd | 32 | |
b0ssiz | 5:baf5576a14bd | 33 | |
b0ssiz | 7:a0ea8c127611 | 34 | |
b0ssiz | 7:a0ea8c127611 | 35 | |
b0ssiz | 5:baf5576a14bd | 36 | void Bear_Receiver::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array) |
b0ssiz | 5:baf5576a14bd | 37 | { |
b0ssiz | 5:baf5576a14bd | 38 | float float_buffer; |
b0ssiz | 5:baf5576a14bd | 39 | float int_buffer; |
b0ssiz | 5:baf5576a14bd | 40 | int16_t integer; |
b0ssiz | 5:baf5576a14bd | 41 | int16_t floating_point; |
b0ssiz | 5:baf5576a14bd | 42 | |
b0ssiz | 5:baf5576a14bd | 43 | float_buffer=modf(input_float,&int_buffer); |
b0ssiz | 5:baf5576a14bd | 44 | float_buffer*=FLOAT_CONVERTER; |
b0ssiz | 5:baf5576a14bd | 45 | integer=(int16_t)int_buffer; |
b0ssiz | 5:baf5576a14bd | 46 | floating_point=(int16_t)float_buffer; |
b0ssiz | 5:baf5576a14bd | 47 | Utilities::ConvertInt16ToUInt8Array(integer,int_data_array); |
b0ssiz | 5:baf5576a14bd | 48 | Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array); |
b0ssiz | 5:baf5576a14bd | 49 | } |
b0ssiz | 5:baf5576a14bd | 50 | |
b0ssiz | 5:baf5576a14bd | 51 | |
b0ssiz | 5:baf5576a14bd | 52 | |
b0ssiz | 5:baf5576a14bd | 53 | |
b0ssiz | 5:baf5576a14bd | 54 | uint8_t Bear_Receiver::sendMotorPos(uint8_t id,float up_angle,float low_angle) |
b0ssiz | 5:baf5576a14bd | 55 | { |
b0ssiz | 5:baf5576a14bd | 56 | uint8_t IntUpAngle[2],FloatUpAngle[2]; |
b0ssiz | 5:baf5576a14bd | 57 | uint8_t IntLowAngle[2],FloatLowAngle[2]; |
b0ssiz | 5:baf5576a14bd | 58 | FloatSep(up_angle,IntUpAngle,FloatUpAngle); |
b0ssiz | 5:baf5576a14bd | 59 | FloatSep(low_angle,IntLowAngle,FloatLowAngle); |
b0ssiz | 5:baf5576a14bd | 60 | |
b0ssiz | 5:baf5576a14bd | 61 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:baf5576a14bd | 62 | |
b0ssiz | 5:baf5576a14bd | 63 | package.robotId = id; |
b0ssiz | 5:baf5576a14bd | 64 | package.length = 10; |
b0ssiz | 5:baf5576a14bd | 65 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 5:baf5576a14bd | 66 | package.parameter[0]=IntUpAngle[0]; |
b0ssiz | 5:baf5576a14bd | 67 | package.parameter[1]=IntUpAngle[1]; |
b0ssiz | 5:baf5576a14bd | 68 | package.parameter[2]=FloatUpAngle[0]; |
b0ssiz | 5:baf5576a14bd | 69 | package.parameter[3]=FloatUpAngle[1]; |
b0ssiz | 5:baf5576a14bd | 70 | package.parameter[4]=IntLowAngle[0]; |
b0ssiz | 5:baf5576a14bd | 71 | package.parameter[5]=IntLowAngle[1]; |
b0ssiz | 5:baf5576a14bd | 72 | package.parameter[6]=FloatLowAngle[0]; |
b0ssiz | 5:baf5576a14bd | 73 | package.parameter[7]=FloatLowAngle[1]; |
b0ssiz | 5:baf5576a14bd | 74 | |
b0ssiz | 5:baf5576a14bd | 75 | rs485_dirc=1; |
b0ssiz | 5:baf5576a14bd | 76 | wait_us(RS485_DELAY); |
b0ssiz | 5:baf5576a14bd | 77 | return com->sendCommunicatePacket(&package); |
b0ssiz | 6:f6529ad2a70d | 78 | |
b0ssiz | 6:f6529ad2a70d | 79 | |
b0ssiz | 6:f6529ad2a70d | 80 | } |
b0ssiz | 6:f6529ad2a70d | 81 | |
b0ssiz | 6:f6529ad2a70d | 82 | |
b0ssiz | 6:f6529ad2a70d | 83 | |
b0ssiz | 6:f6529ad2a70d | 84 | uint8_t Bear_Receiver::sendUpMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd) |
b0ssiz | 6:f6529ad2a70d | 85 | { |
b0ssiz | 6:f6529ad2a70d | 86 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 6:f6529ad2a70d | 87 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 6:f6529ad2a70d | 88 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 7:a0ea8c127611 | 89 | |
b0ssiz | 6:f6529ad2a70d | 90 | FloatSep(Kp,IntKp,FloatKp); |
b0ssiz | 6:f6529ad2a70d | 91 | FloatSep(Ki,IntKi,FloatKi); |
b0ssiz | 6:f6529ad2a70d | 92 | FloatSep(Kd,IntKd,FloatKd); |
b0ssiz | 7:a0ea8c127611 | 93 | |
b0ssiz | 7:a0ea8c127611 | 94 | |
b0ssiz | 6:f6529ad2a70d | 95 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 6:f6529ad2a70d | 96 | |
b0ssiz | 6:f6529ad2a70d | 97 | package.robotId = id; |
b0ssiz | 6:f6529ad2a70d | 98 | package.length = 14; |
b0ssiz | 6:f6529ad2a70d | 99 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 6:f6529ad2a70d | 100 | package.parameter[0]=IntKp[0]; |
b0ssiz | 6:f6529ad2a70d | 101 | package.parameter[1]=IntKp[1]; |
b0ssiz | 6:f6529ad2a70d | 102 | package.parameter[2]=FloatKp[0]; |
b0ssiz | 6:f6529ad2a70d | 103 | package.parameter[3]=FloatKp[1]; |
b0ssiz | 6:f6529ad2a70d | 104 | package.parameter[4]=IntKi[0]; |
b0ssiz | 6:f6529ad2a70d | 105 | package.parameter[5]=IntKi[1]; |
b0ssiz | 6:f6529ad2a70d | 106 | package.parameter[6]=FloatKi[0]; |
b0ssiz | 6:f6529ad2a70d | 107 | package.parameter[7]=FloatKi[1]; |
b0ssiz | 6:f6529ad2a70d | 108 | package.parameter[8]=IntKd[0]; |
b0ssiz | 6:f6529ad2a70d | 109 | package.parameter[9]=IntKd[1]; |
b0ssiz | 6:f6529ad2a70d | 110 | package.parameter[10]=FloatKd[0]; |
b0ssiz | 6:f6529ad2a70d | 111 | package.parameter[11]=FloatKd[1]; |
b0ssiz | 6:f6529ad2a70d | 112 | |
b0ssiz | 6:f6529ad2a70d | 113 | rs485_dirc=1; |
b0ssiz | 6:f6529ad2a70d | 114 | wait_us(RS485_DELAY); |
b0ssiz | 6:f6529ad2a70d | 115 | return com->sendCommunicatePacket(&package); |
b0ssiz | 6:f6529ad2a70d | 116 | } |
b0ssiz | 6:f6529ad2a70d | 117 | |
b0ssiz | 6:f6529ad2a70d | 118 | |
b0ssiz | 6:f6529ad2a70d | 119 | |
b0ssiz | 6:f6529ad2a70d | 120 | |
b0ssiz | 6:f6529ad2a70d | 121 | uint8_t Bear_Receiver::sendLowMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd) |
b0ssiz | 6:f6529ad2a70d | 122 | { |
b0ssiz | 6:f6529ad2a70d | 123 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 6:f6529ad2a70d | 124 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 6:f6529ad2a70d | 125 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 7:a0ea8c127611 | 126 | |
b0ssiz | 6:f6529ad2a70d | 127 | FloatSep(Kp,IntKp,FloatKp); |
b0ssiz | 6:f6529ad2a70d | 128 | FloatSep(Ki,IntKi,FloatKi); |
b0ssiz | 6:f6529ad2a70d | 129 | FloatSep(Kd,IntKd,FloatKd); |
b0ssiz | 7:a0ea8c127611 | 130 | |
b0ssiz | 7:a0ea8c127611 | 131 | |
b0ssiz | 6:f6529ad2a70d | 132 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 6:f6529ad2a70d | 133 | |
b0ssiz | 6:f6529ad2a70d | 134 | package.robotId = id; |
b0ssiz | 6:f6529ad2a70d | 135 | package.length = 14; |
b0ssiz | 6:f6529ad2a70d | 136 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 6:f6529ad2a70d | 137 | package.parameter[0]=IntKp[0]; |
b0ssiz | 6:f6529ad2a70d | 138 | package.parameter[1]=IntKp[1]; |
b0ssiz | 6:f6529ad2a70d | 139 | package.parameter[2]=FloatKp[0]; |
b0ssiz | 6:f6529ad2a70d | 140 | package.parameter[3]=FloatKp[1]; |
b0ssiz | 6:f6529ad2a70d | 141 | package.parameter[4]=IntKi[0]; |
b0ssiz | 6:f6529ad2a70d | 142 | package.parameter[5]=IntKi[1]; |
b0ssiz | 6:f6529ad2a70d | 143 | package.parameter[6]=FloatKi[0]; |
b0ssiz | 6:f6529ad2a70d | 144 | package.parameter[7]=FloatKi[1]; |
b0ssiz | 6:f6529ad2a70d | 145 | package.parameter[8]=IntKd[0]; |
b0ssiz | 6:f6529ad2a70d | 146 | package.parameter[9]=IntKd[1]; |
b0ssiz | 6:f6529ad2a70d | 147 | package.parameter[10]=FloatKd[0]; |
b0ssiz | 6:f6529ad2a70d | 148 | package.parameter[11]=FloatKd[1]; |
b0ssiz | 6:f6529ad2a70d | 149 | |
b0ssiz | 6:f6529ad2a70d | 150 | rs485_dirc=1; |
b0ssiz | 6:f6529ad2a70d | 151 | wait_us(RS485_DELAY); |
b0ssiz | 6:f6529ad2a70d | 152 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 153 | } |
b0ssiz | 8:2d34916ac178 | 154 | |
b0ssiz | 8:2d34916ac178 | 155 | |
b0ssiz | 8:2d34916ac178 | 156 | |
ParinyaT | 14:1c3180c64272 | 157 | uint8_t Bear_Receiver::sendUpMargin(uint8_t id,uint8_t *Margin) |
b0ssiz | 12:be8675c18a58 | 158 | { |
b0ssiz | 12:be8675c18a58 | 159 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 12:be8675c18a58 | 160 | |
b0ssiz | 12:be8675c18a58 | 161 | package.robotId = id; |
b0ssiz | 12:be8675c18a58 | 162 | package.length = 6; |
b0ssiz | 12:be8675c18a58 | 163 | package.instructionErrorId = WRITE_DATA; |
ParinyaT | 14:1c3180c64272 | 164 | package.parameter[0]=Margin[0]; |
ParinyaT | 14:1c3180c64272 | 165 | package.parameter[1]=Margin[1]; |
ParinyaT | 14:1c3180c64272 | 166 | package.parameter[2]=Margin[2]; |
ParinyaT | 14:1c3180c64272 | 167 | package.parameter[3]=Margin[3]; |
b0ssiz | 12:be8675c18a58 | 168 | |
b0ssiz | 12:be8675c18a58 | 169 | rs485_dirc=1; |
b0ssiz | 12:be8675c18a58 | 170 | wait_us(RS485_DELAY); |
b0ssiz | 12:be8675c18a58 | 171 | return com->sendCommunicatePacket(&package); |
b0ssiz | 12:be8675c18a58 | 172 | |
b0ssiz | 12:be8675c18a58 | 173 | } |
b0ssiz | 12:be8675c18a58 | 174 | |
ParinyaT | 14:1c3180c64272 | 175 | uint8_t Bear_Receiver::sendLowMargin(uint8_t id,uint8_t *Margin) |
b0ssiz | 8:2d34916ac178 | 176 | { |
b0ssiz | 8:2d34916ac178 | 177 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 178 | |
b0ssiz | 8:2d34916ac178 | 179 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 180 | package.length = 6; |
b0ssiz | 8:2d34916ac178 | 181 | package.instructionErrorId = WRITE_DATA; |
ParinyaT | 14:1c3180c64272 | 182 | package.parameter[0]=Margin[0]; |
ParinyaT | 14:1c3180c64272 | 183 | package.parameter[1]=Margin[1]; |
ParinyaT | 14:1c3180c64272 | 184 | package.parameter[2]=Margin[2]; |
ParinyaT | 14:1c3180c64272 | 185 | package.parameter[3]=Margin[3]; |
b0ssiz | 8:2d34916ac178 | 186 | |
b0ssiz | 8:2d34916ac178 | 187 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 188 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 189 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 190 | |
b0ssiz | 8:2d34916ac178 | 191 | } |
b0ssiz | 8:2d34916ac178 | 192 | |
ParinyaT | 14:1c3180c64272 | 193 | uint8_t Bear_Receiver::sendHeight(uint8_t id,uint8_t *Height) |
b0ssiz | 8:2d34916ac178 | 194 | { |
b0ssiz | 8:2d34916ac178 | 195 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 196 | |
b0ssiz | 8:2d34916ac178 | 197 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 198 | package.length = 6; |
b0ssiz | 8:2d34916ac178 | 199 | package.instructionErrorId = WRITE_DATA; |
ParinyaT | 14:1c3180c64272 | 200 | package.parameter[0]=Height[0]; |
ParinyaT | 14:1c3180c64272 | 201 | package.parameter[1]=Height[1]; |
ParinyaT | 14:1c3180c64272 | 202 | package.parameter[2]=Height[2]; |
ParinyaT | 14:1c3180c64272 | 203 | package.parameter[3]=Height[3]; |
b0ssiz | 8:2d34916ac178 | 204 | |
b0ssiz | 8:2d34916ac178 | 205 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 206 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 207 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 208 | } |
b0ssiz | 8:2d34916ac178 | 209 | |
ParinyaT | 14:1c3180c64272 | 210 | uint8_t Bear_Receiver::sendWheelPos(uint8_t id,uint8_t *WheelPos) |
b0ssiz | 8:2d34916ac178 | 211 | { |
b0ssiz | 8:2d34916ac178 | 212 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 213 | |
b0ssiz | 8:2d34916ac178 | 214 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 215 | package.length = 6; |
b0ssiz | 8:2d34916ac178 | 216 | package.instructionErrorId = WRITE_DATA; |
ParinyaT | 14:1c3180c64272 | 217 | package.parameter[0]=WheelPos[0]; |
ParinyaT | 14:1c3180c64272 | 218 | package.parameter[1]=WheelPos[1]; |
ParinyaT | 14:1c3180c64272 | 219 | package.parameter[2]=WheelPos[2]; |
ParinyaT | 14:1c3180c64272 | 220 | package.parameter[3]=WheelPos[3]; |
b0ssiz | 8:2d34916ac178 | 221 | |
b0ssiz | 8:2d34916ac178 | 222 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 223 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 224 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 225 | } |
b0ssiz | 8:2d34916ac178 | 226 | |
ParinyaT | 14:1c3180c64272 | 227 | uint8_t Bear_Receiver::sendMagData(uint8_t id,uint8_t *Mag) |
b0ssiz | 8:2d34916ac178 | 228 | { |
b0ssiz | 8:2d34916ac178 | 229 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 230 | |
b0ssiz | 8:2d34916ac178 | 231 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 232 | package.length = 26; |
b0ssiz | 8:2d34916ac178 | 233 | package.instructionErrorId = WRITE_DATA; |
ParinyaT | 14:1c3180c64272 | 234 | package.parameter[0]=Mag[0]; |
ParinyaT | 14:1c3180c64272 | 235 | package.parameter[1]=Mag[1]; |
ParinyaT | 14:1c3180c64272 | 236 | package.parameter[2]=Mag[2]; |
ParinyaT | 14:1c3180c64272 | 237 | package.parameter[3]=Mag[3]; |
ParinyaT | 14:1c3180c64272 | 238 | package.parameter[4]=Mag[4]; |
ParinyaT | 14:1c3180c64272 | 239 | package.parameter[5]=Mag[5]; |
ParinyaT | 14:1c3180c64272 | 240 | package.parameter[6]=Mag[6]; |
ParinyaT | 14:1c3180c64272 | 241 | package.parameter[7]=Mag[7]; |
ParinyaT | 14:1c3180c64272 | 242 | package.parameter[8]=Mag[8]; |
ParinyaT | 14:1c3180c64272 | 243 | package.parameter[9]=Mag[9]; |
ParinyaT | 14:1c3180c64272 | 244 | package.parameter[10]=Mag[10]; |
ParinyaT | 14:1c3180c64272 | 245 | package.parameter[11]=Mag[11]; |
ParinyaT | 14:1c3180c64272 | 246 | package.parameter[12]=Mag[12]; |
ParinyaT | 14:1c3180c64272 | 247 | package.parameter[13]=Mag[13]; |
ParinyaT | 14:1c3180c64272 | 248 | package.parameter[14]=Mag[14]; |
ParinyaT | 14:1c3180c64272 | 249 | package.parameter[15]=Mag[15]; |
ParinyaT | 14:1c3180c64272 | 250 | package.parameter[16]=Mag[16]; |
ParinyaT | 14:1c3180c64272 | 251 | package.parameter[17]=Mag[17]; |
ParinyaT | 14:1c3180c64272 | 252 | package.parameter[18]=Mag[18]; |
ParinyaT | 14:1c3180c64272 | 253 | package.parameter[19]=Mag[19]; |
ParinyaT | 14:1c3180c64272 | 254 | package.parameter[20]=Mag[20]; |
ParinyaT | 14:1c3180c64272 | 255 | package.parameter[21]=Mag[21]; |
ParinyaT | 14:1c3180c64272 | 256 | package.parameter[22]=Mag[22]; |
ParinyaT | 14:1c3180c64272 | 257 | package.parameter[23]=Mag[23]; |
b0ssiz | 8:2d34916ac178 | 258 | |
b0ssiz | 8:2d34916ac178 | 259 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 260 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 261 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 262 | } |
b0ssiz | 8:2d34916ac178 | 263 | |
ParinyaT | 14:1c3180c64272 | 264 | uint8_t Bear_Receiver::sendOffset(uint8_t id,uint8_t *Offset) |
b0ssiz | 8:2d34916ac178 | 265 | { |
b0ssiz | 8:2d34916ac178 | 266 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 267 | |
b0ssiz | 8:2d34916ac178 | 268 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 269 | package.length = 10; |
b0ssiz | 8:2d34916ac178 | 270 | package.instructionErrorId = WRITE_DATA; |
ParinyaT | 14:1c3180c64272 | 271 | package.parameter[0]=Offset[0]; |
ParinyaT | 14:1c3180c64272 | 272 | package.parameter[1]=Offset[1]; |
ParinyaT | 14:1c3180c64272 | 273 | package.parameter[2]=Offset[2]; |
ParinyaT | 14:1c3180c64272 | 274 | package.parameter[3]=Offset[3]; |
ParinyaT | 14:1c3180c64272 | 275 | package.parameter[4]=Offset[4]; |
ParinyaT | 14:1c3180c64272 | 276 | package.parameter[5]=Offset[5]; |
ParinyaT | 14:1c3180c64272 | 277 | package.parameter[6]=Offset[6]; |
ParinyaT | 14:1c3180c64272 | 278 | package.parameter[7]=Offset[7]; |
b0ssiz | 8:2d34916ac178 | 279 | |
b0ssiz | 8:2d34916ac178 | 280 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 281 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 282 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 283 | } |
b0ssiz | 8:2d34916ac178 | 284 | |
ParinyaT | 14:1c3180c64272 | 285 | uint8_t Bear_Receiver::sendBodyWidth(uint8_t id,uint8_t *BodyWidth) |
b0ssiz | 8:2d34916ac178 | 286 | { |
b0ssiz | 8:2d34916ac178 | 287 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 288 | |
b0ssiz | 8:2d34916ac178 | 289 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 290 | package.length = 6; |
b0ssiz | 8:2d34916ac178 | 291 | package.instructionErrorId = WRITE_DATA; |
ParinyaT | 14:1c3180c64272 | 292 | package.parameter[0]=BodyWidth[0]; |
ParinyaT | 14:1c3180c64272 | 293 | package.parameter[1]=BodyWidth[1]; |
ParinyaT | 14:1c3180c64272 | 294 | package.parameter[2]=BodyWidth[2]; |
ParinyaT | 14:1c3180c64272 | 295 | package.parameter[3]=BodyWidth[3]; |
b0ssiz | 8:2d34916ac178 | 296 | |
b0ssiz | 8:2d34916ac178 | 297 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 298 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 299 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 300 | } |
b0ssiz | 8:2d34916ac178 | 301 | |
ParinyaT | 14:1c3180c64272 | 302 | uint8_t Bear_Receiver::sendUpAngleRange(uint8_t id,uint8_t *Angle) |
b0ssiz | 11:b9337e23782e | 303 | { |
b0ssiz | 11:b9337e23782e | 304 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 11:b9337e23782e | 305 | |
b0ssiz | 11:b9337e23782e | 306 | package.robotId = id; |
b0ssiz | 11:b9337e23782e | 307 | package.length = 10; |
b0ssiz | 11:b9337e23782e | 308 | package.instructionErrorId = WRITE_DATA; |
ParinyaT | 14:1c3180c64272 | 309 | package.parameter[0]=Angle[0]; |
ParinyaT | 14:1c3180c64272 | 310 | package.parameter[1]=Angle[1]; |
ParinyaT | 14:1c3180c64272 | 311 | package.parameter[2]=Angle[2]; |
ParinyaT | 14:1c3180c64272 | 312 | package.parameter[3]=Angle[3]; |
ParinyaT | 14:1c3180c64272 | 313 | package.parameter[4]=Angle[4]; |
ParinyaT | 14:1c3180c64272 | 314 | package.parameter[5]=Angle[5]; |
ParinyaT | 14:1c3180c64272 | 315 | package.parameter[6]=Angle[6]; |
ParinyaT | 14:1c3180c64272 | 316 | package.parameter[7]=Angle[7]; |
b0ssiz | 11:b9337e23782e | 317 | |
b0ssiz | 11:b9337e23782e | 318 | rs485_dirc=1; |
b0ssiz | 11:b9337e23782e | 319 | wait_us(RS485_DELAY); |
b0ssiz | 11:b9337e23782e | 320 | return com->sendCommunicatePacket(&package); |
b0ssiz | 11:b9337e23782e | 321 | } |
b0ssiz | 11:b9337e23782e | 322 | |
b0ssiz | 11:b9337e23782e | 323 | |
ParinyaT | 14:1c3180c64272 | 324 | uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,uint8_t *Angle) |
b0ssiz | 8:2d34916ac178 | 325 | { |
b0ssiz | 8:2d34916ac178 | 326 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 327 | |
b0ssiz | 8:2d34916ac178 | 328 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 329 | package.length = 10; |
b0ssiz | 8:2d34916ac178 | 330 | package.instructionErrorId = WRITE_DATA; |
ParinyaT | 14:1c3180c64272 | 331 | package.parameter[0]=Angle[0]; |
ParinyaT | 14:1c3180c64272 | 332 | package.parameter[1]=Angle[1]; |
ParinyaT | 14:1c3180c64272 | 333 | package.parameter[2]=Angle[2]; |
ParinyaT | 14:1c3180c64272 | 334 | package.parameter[3]=Angle[3]; |
ParinyaT | 14:1c3180c64272 | 335 | package.parameter[4]=Angle[4]; |
ParinyaT | 14:1c3180c64272 | 336 | package.parameter[5]=Angle[5]; |
ParinyaT | 14:1c3180c64272 | 337 | package.parameter[6]=Angle[6]; |
ParinyaT | 14:1c3180c64272 | 338 | package.parameter[7]=Angle[7]; |
b0ssiz | 8:2d34916ac178 | 339 | |
b0ssiz | 8:2d34916ac178 | 340 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 341 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 342 | return com->sendCommunicatePacket(&package); |
b0ssiz | 17:774eec1470d8 | 343 | } |
b0ssiz | 17:774eec1470d8 | 344 | |
b0ssiz | 17:774eec1470d8 | 345 | uint8_t Bear_Receiver::sendUpLinkLength(uint8_t id,uint8_t *Length) |
b0ssiz | 17:774eec1470d8 | 346 | { |
b0ssiz | 17:774eec1470d8 | 347 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 17:774eec1470d8 | 348 | |
b0ssiz | 17:774eec1470d8 | 349 | package.robotId = id; |
b0ssiz | 17:774eec1470d8 | 350 | package.length = 6; |
b0ssiz | 17:774eec1470d8 | 351 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 17:774eec1470d8 | 352 | package.parameter[0]=Length[0]; |
b0ssiz | 17:774eec1470d8 | 353 | package.parameter[1]=Length[1]; |
b0ssiz | 17:774eec1470d8 | 354 | package.parameter[2]=Length[2]; |
b0ssiz | 17:774eec1470d8 | 355 | package.parameter[3]=Length[3]; |
b0ssiz | 17:774eec1470d8 | 356 | |
b0ssiz | 17:774eec1470d8 | 357 | rs485_dirc=1; |
b0ssiz | 17:774eec1470d8 | 358 | wait_us(RS485_DELAY); |
b0ssiz | 17:774eec1470d8 | 359 | return com->sendCommunicatePacket(&package); |
b0ssiz | 17:774eec1470d8 | 360 | |
b0ssiz | 17:774eec1470d8 | 361 | } |
b0ssiz | 17:774eec1470d8 | 362 | |
b0ssiz | 17:774eec1470d8 | 363 | uint8_t Bear_Receiver::sendLowLinkLength(uint8_t id,uint8_t *Length) |
b0ssiz | 17:774eec1470d8 | 364 | { |
b0ssiz | 17:774eec1470d8 | 365 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 17:774eec1470d8 | 366 | |
b0ssiz | 17:774eec1470d8 | 367 | package.robotId = id; |
b0ssiz | 17:774eec1470d8 | 368 | package.length = 6; |
b0ssiz | 17:774eec1470d8 | 369 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 17:774eec1470d8 | 370 | package.parameter[0]=Length[0]; |
b0ssiz | 17:774eec1470d8 | 371 | package.parameter[1]=Length[1]; |
b0ssiz | 17:774eec1470d8 | 372 | package.parameter[2]=Length[2]; |
b0ssiz | 17:774eec1470d8 | 373 | package.parameter[3]=Length[3]; |
b0ssiz | 17:774eec1470d8 | 374 | |
b0ssiz | 17:774eec1470d8 | 375 | rs485_dirc=1; |
b0ssiz | 17:774eec1470d8 | 376 | wait_us(RS485_DELAY); |
b0ssiz | 17:774eec1470d8 | 377 | return com->sendCommunicatePacket(&package); |
b0ssiz | 17:774eec1470d8 | 378 | |
b0ssiz | 6:f6529ad2a70d | 379 | } |