Communication for reciever
Dependencies: Fork_Boss_Communication_Robot
Dependents: BEAR_Motion BEAR_Motion_Editing4Betago
Fork of BEAR_Protocol by
Receiver.cpp@11:b9337e23782e, 2016-01-21 (annotated)
- Committer:
- b0ssiz
- Date:
- Thu Jan 21 16:51:02 2016 +0000
- Revision:
- 11:b9337e23782e
- Parent:
- 8:2d34916ac178
- Child:
- 12:be8675c18a58
Update; - Seperate function AngleRange to sendUpAngleRange and sendLowAngelRange
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 | 6:f6529ad2a70d | 23 | data_array = package.parameter; |
b0ssiz | 8:2d34916ac178 | 24 | *ins=package.instructionErrorId; |
b0ssiz | 5:baf5576a14bd | 25 | |
b0ssiz | 5:baf5576a14bd | 26 | } |
b0ssiz | 5:baf5576a14bd | 27 | return status; |
b0ssiz | 5:baf5576a14bd | 28 | } |
b0ssiz | 5:baf5576a14bd | 29 | |
b0ssiz | 5:baf5576a14bd | 30 | |
b0ssiz | 5:baf5576a14bd | 31 | |
b0ssiz | 7:a0ea8c127611 | 32 | |
b0ssiz | 7:a0ea8c127611 | 33 | |
b0ssiz | 5:baf5576a14bd | 34 | void Bear_Receiver::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array) |
b0ssiz | 5:baf5576a14bd | 35 | { |
b0ssiz | 5:baf5576a14bd | 36 | float float_buffer; |
b0ssiz | 5:baf5576a14bd | 37 | float int_buffer; |
b0ssiz | 5:baf5576a14bd | 38 | int16_t integer; |
b0ssiz | 5:baf5576a14bd | 39 | int16_t floating_point; |
b0ssiz | 5:baf5576a14bd | 40 | |
b0ssiz | 5:baf5576a14bd | 41 | float_buffer=modf(input_float,&int_buffer); |
b0ssiz | 5:baf5576a14bd | 42 | float_buffer*=FLOAT_CONVERTER; |
b0ssiz | 5:baf5576a14bd | 43 | integer=(int16_t)int_buffer; |
b0ssiz | 5:baf5576a14bd | 44 | floating_point=(int16_t)float_buffer; |
b0ssiz | 5:baf5576a14bd | 45 | Utilities::ConvertInt16ToUInt8Array(integer,int_data_array); |
b0ssiz | 5:baf5576a14bd | 46 | Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array); |
b0ssiz | 5:baf5576a14bd | 47 | } |
b0ssiz | 5:baf5576a14bd | 48 | |
b0ssiz | 5:baf5576a14bd | 49 | |
b0ssiz | 5:baf5576a14bd | 50 | |
b0ssiz | 5:baf5576a14bd | 51 | |
b0ssiz | 5:baf5576a14bd | 52 | uint8_t Bear_Receiver::sendMotorPos(uint8_t id,float up_angle,float low_angle) |
b0ssiz | 5:baf5576a14bd | 53 | { |
b0ssiz | 5:baf5576a14bd | 54 | uint8_t IntUpAngle[2],FloatUpAngle[2]; |
b0ssiz | 5:baf5576a14bd | 55 | uint8_t IntLowAngle[2],FloatLowAngle[2]; |
b0ssiz | 5:baf5576a14bd | 56 | FloatSep(up_angle,IntUpAngle,FloatUpAngle); |
b0ssiz | 5:baf5576a14bd | 57 | FloatSep(low_angle,IntLowAngle,FloatLowAngle); |
b0ssiz | 5:baf5576a14bd | 58 | |
b0ssiz | 5:baf5576a14bd | 59 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:baf5576a14bd | 60 | |
b0ssiz | 5:baf5576a14bd | 61 | package.robotId = id; |
b0ssiz | 5:baf5576a14bd | 62 | package.length = 10; |
b0ssiz | 5:baf5576a14bd | 63 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 5:baf5576a14bd | 64 | package.parameter[0]=IntUpAngle[0]; |
b0ssiz | 5:baf5576a14bd | 65 | package.parameter[1]=IntUpAngle[1]; |
b0ssiz | 5:baf5576a14bd | 66 | package.parameter[2]=FloatUpAngle[0]; |
b0ssiz | 5:baf5576a14bd | 67 | package.parameter[3]=FloatUpAngle[1]; |
b0ssiz | 5:baf5576a14bd | 68 | package.parameter[4]=IntLowAngle[0]; |
b0ssiz | 5:baf5576a14bd | 69 | package.parameter[5]=IntLowAngle[1]; |
b0ssiz | 5:baf5576a14bd | 70 | package.parameter[6]=FloatLowAngle[0]; |
b0ssiz | 5:baf5576a14bd | 71 | package.parameter[7]=FloatLowAngle[1]; |
b0ssiz | 5:baf5576a14bd | 72 | |
b0ssiz | 5:baf5576a14bd | 73 | rs485_dirc=1; |
b0ssiz | 5:baf5576a14bd | 74 | wait_us(RS485_DELAY); |
b0ssiz | 5:baf5576a14bd | 75 | return com->sendCommunicatePacket(&package); |
b0ssiz | 6:f6529ad2a70d | 76 | |
b0ssiz | 6:f6529ad2a70d | 77 | |
b0ssiz | 6:f6529ad2a70d | 78 | } |
b0ssiz | 6:f6529ad2a70d | 79 | |
b0ssiz | 6:f6529ad2a70d | 80 | |
b0ssiz | 6:f6529ad2a70d | 81 | |
b0ssiz | 6:f6529ad2a70d | 82 | uint8_t Bear_Receiver::sendUpMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd) |
b0ssiz | 6:f6529ad2a70d | 83 | { |
b0ssiz | 6:f6529ad2a70d | 84 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 6:f6529ad2a70d | 85 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 6:f6529ad2a70d | 86 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 7:a0ea8c127611 | 87 | |
b0ssiz | 6:f6529ad2a70d | 88 | FloatSep(Kp,IntKp,FloatKp); |
b0ssiz | 6:f6529ad2a70d | 89 | FloatSep(Ki,IntKi,FloatKi); |
b0ssiz | 6:f6529ad2a70d | 90 | FloatSep(Kd,IntKd,FloatKd); |
b0ssiz | 7:a0ea8c127611 | 91 | |
b0ssiz | 7:a0ea8c127611 | 92 | |
b0ssiz | 6:f6529ad2a70d | 93 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 6:f6529ad2a70d | 94 | |
b0ssiz | 6:f6529ad2a70d | 95 | package.robotId = id; |
b0ssiz | 6:f6529ad2a70d | 96 | package.length = 14; |
b0ssiz | 6:f6529ad2a70d | 97 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 6:f6529ad2a70d | 98 | package.parameter[0]=IntKp[0]; |
b0ssiz | 6:f6529ad2a70d | 99 | package.parameter[1]=IntKp[1]; |
b0ssiz | 6:f6529ad2a70d | 100 | package.parameter[2]=FloatKp[0]; |
b0ssiz | 6:f6529ad2a70d | 101 | package.parameter[3]=FloatKp[1]; |
b0ssiz | 6:f6529ad2a70d | 102 | package.parameter[4]=IntKi[0]; |
b0ssiz | 6:f6529ad2a70d | 103 | package.parameter[5]=IntKi[1]; |
b0ssiz | 6:f6529ad2a70d | 104 | package.parameter[6]=FloatKi[0]; |
b0ssiz | 6:f6529ad2a70d | 105 | package.parameter[7]=FloatKi[1]; |
b0ssiz | 6:f6529ad2a70d | 106 | package.parameter[8]=IntKd[0]; |
b0ssiz | 6:f6529ad2a70d | 107 | package.parameter[9]=IntKd[1]; |
b0ssiz | 6:f6529ad2a70d | 108 | package.parameter[10]=FloatKd[0]; |
b0ssiz | 6:f6529ad2a70d | 109 | package.parameter[11]=FloatKd[1]; |
b0ssiz | 6:f6529ad2a70d | 110 | |
b0ssiz | 6:f6529ad2a70d | 111 | rs485_dirc=1; |
b0ssiz | 6:f6529ad2a70d | 112 | wait_us(RS485_DELAY); |
b0ssiz | 6:f6529ad2a70d | 113 | return com->sendCommunicatePacket(&package); |
b0ssiz | 6:f6529ad2a70d | 114 | } |
b0ssiz | 6:f6529ad2a70d | 115 | |
b0ssiz | 6:f6529ad2a70d | 116 | |
b0ssiz | 6:f6529ad2a70d | 117 | |
b0ssiz | 6:f6529ad2a70d | 118 | |
b0ssiz | 6:f6529ad2a70d | 119 | uint8_t Bear_Receiver::sendLowMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd) |
b0ssiz | 6:f6529ad2a70d | 120 | { |
b0ssiz | 6:f6529ad2a70d | 121 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 6:f6529ad2a70d | 122 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 6:f6529ad2a70d | 123 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 7:a0ea8c127611 | 124 | |
b0ssiz | 6:f6529ad2a70d | 125 | FloatSep(Kp,IntKp,FloatKp); |
b0ssiz | 6:f6529ad2a70d | 126 | FloatSep(Ki,IntKi,FloatKi); |
b0ssiz | 6:f6529ad2a70d | 127 | FloatSep(Kd,IntKd,FloatKd); |
b0ssiz | 7:a0ea8c127611 | 128 | |
b0ssiz | 7:a0ea8c127611 | 129 | |
b0ssiz | 6:f6529ad2a70d | 130 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 6:f6529ad2a70d | 131 | |
b0ssiz | 6:f6529ad2a70d | 132 | package.robotId = id; |
b0ssiz | 6:f6529ad2a70d | 133 | package.length = 14; |
b0ssiz | 6:f6529ad2a70d | 134 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 6:f6529ad2a70d | 135 | package.parameter[0]=IntKp[0]; |
b0ssiz | 6:f6529ad2a70d | 136 | package.parameter[1]=IntKp[1]; |
b0ssiz | 6:f6529ad2a70d | 137 | package.parameter[2]=FloatKp[0]; |
b0ssiz | 6:f6529ad2a70d | 138 | package.parameter[3]=FloatKp[1]; |
b0ssiz | 6:f6529ad2a70d | 139 | package.parameter[4]=IntKi[0]; |
b0ssiz | 6:f6529ad2a70d | 140 | package.parameter[5]=IntKi[1]; |
b0ssiz | 6:f6529ad2a70d | 141 | package.parameter[6]=FloatKi[0]; |
b0ssiz | 6:f6529ad2a70d | 142 | package.parameter[7]=FloatKi[1]; |
b0ssiz | 6:f6529ad2a70d | 143 | package.parameter[8]=IntKd[0]; |
b0ssiz | 6:f6529ad2a70d | 144 | package.parameter[9]=IntKd[1]; |
b0ssiz | 6:f6529ad2a70d | 145 | package.parameter[10]=FloatKd[0]; |
b0ssiz | 6:f6529ad2a70d | 146 | package.parameter[11]=FloatKd[1]; |
b0ssiz | 6:f6529ad2a70d | 147 | |
b0ssiz | 6:f6529ad2a70d | 148 | rs485_dirc=1; |
b0ssiz | 6:f6529ad2a70d | 149 | wait_us(RS485_DELAY); |
b0ssiz | 6:f6529ad2a70d | 150 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 151 | } |
b0ssiz | 8:2d34916ac178 | 152 | |
b0ssiz | 8:2d34916ac178 | 153 | |
b0ssiz | 8:2d34916ac178 | 154 | |
b0ssiz | 8:2d34916ac178 | 155 | uint8_t Bear_Receiver::sendMargin(uint8_t id,float margin) |
b0ssiz | 8:2d34916ac178 | 156 | { |
b0ssiz | 8:2d34916ac178 | 157 | uint8_t IntMargin[2],FloatMargin[2]; |
b0ssiz | 8:2d34916ac178 | 158 | FloatSep(margin,IntMargin,FloatMargin); |
b0ssiz | 8:2d34916ac178 | 159 | |
b0ssiz | 8:2d34916ac178 | 160 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 161 | |
b0ssiz | 8:2d34916ac178 | 162 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 163 | package.length = 6; |
b0ssiz | 8:2d34916ac178 | 164 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:2d34916ac178 | 165 | package.parameter[0]=IntMargin[0]; |
b0ssiz | 8:2d34916ac178 | 166 | package.parameter[1]=IntMargin[1]; |
b0ssiz | 8:2d34916ac178 | 167 | package.parameter[2]=FloatMargin[0]; |
b0ssiz | 8:2d34916ac178 | 168 | package.parameter[3]=FloatMargin[1]; |
b0ssiz | 8:2d34916ac178 | 169 | |
b0ssiz | 8:2d34916ac178 | 170 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 171 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 172 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 173 | |
b0ssiz | 8:2d34916ac178 | 174 | } |
b0ssiz | 8:2d34916ac178 | 175 | |
b0ssiz | 8:2d34916ac178 | 176 | uint8_t Bear_Receiver::sendHeight(uint8_t id,float height) |
b0ssiz | 8:2d34916ac178 | 177 | { |
b0ssiz | 8:2d34916ac178 | 178 | uint8_t IntHeight[2],FloatHeight[2]; |
b0ssiz | 8:2d34916ac178 | 179 | FloatSep(height,IntHeight,FloatHeight); |
b0ssiz | 8:2d34916ac178 | 180 | |
b0ssiz | 8:2d34916ac178 | 181 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 182 | |
b0ssiz | 8:2d34916ac178 | 183 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 184 | package.length = 6; |
b0ssiz | 8:2d34916ac178 | 185 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:2d34916ac178 | 186 | package.parameter[0]=IntHeight[0]; |
b0ssiz | 8:2d34916ac178 | 187 | package.parameter[1]=IntHeight[1]; |
b0ssiz | 8:2d34916ac178 | 188 | package.parameter[2]=FloatHeight[0]; |
b0ssiz | 8:2d34916ac178 | 189 | package.parameter[3]=FloatHeight[1]; |
b0ssiz | 8:2d34916ac178 | 190 | |
b0ssiz | 8:2d34916ac178 | 191 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 192 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 193 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 194 | } |
b0ssiz | 8:2d34916ac178 | 195 | |
b0ssiz | 8:2d34916ac178 | 196 | uint8_t Bear_Receiver::sendWheelPos(uint8_t id,float WheelPos) |
b0ssiz | 8:2d34916ac178 | 197 | { |
b0ssiz | 8:2d34916ac178 | 198 | uint8_t IntWheelPos[2],FloatWheelPos[2]; |
b0ssiz | 8:2d34916ac178 | 199 | FloatSep(WheelPos,IntWheelPos,FloatWheelPos); |
b0ssiz | 8:2d34916ac178 | 200 | |
b0ssiz | 8:2d34916ac178 | 201 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 202 | |
b0ssiz | 8:2d34916ac178 | 203 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 204 | package.length = 6; |
b0ssiz | 8:2d34916ac178 | 205 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:2d34916ac178 | 206 | package.parameter[0]=IntWheelPos[0]; |
b0ssiz | 8:2d34916ac178 | 207 | package.parameter[1]=IntWheelPos[1]; |
b0ssiz | 8:2d34916ac178 | 208 | package.parameter[2]=FloatWheelPos[0]; |
b0ssiz | 8:2d34916ac178 | 209 | package.parameter[3]=FloatWheelPos[1]; |
b0ssiz | 8:2d34916ac178 | 210 | |
b0ssiz | 8:2d34916ac178 | 211 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 212 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 213 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 214 | } |
b0ssiz | 8:2d34916ac178 | 215 | |
b0ssiz | 8:2d34916ac178 | 216 | uint8_t Bear_Receiver::sendMagData(uint8_t id,float x_max,float x_min,float y_max,float y_min,float z_max,float z_min) |
b0ssiz | 8:2d34916ac178 | 217 | { |
b0ssiz | 8:2d34916ac178 | 218 | uint8_t IntXmax[2],FloatXmax[2]; |
b0ssiz | 8:2d34916ac178 | 219 | uint8_t IntXmin[2],FloatXmin[2]; |
b0ssiz | 8:2d34916ac178 | 220 | uint8_t IntYmax[2],FloatYmax[2]; |
b0ssiz | 8:2d34916ac178 | 221 | uint8_t IntYmin[2],FloatYmin[2]; |
b0ssiz | 8:2d34916ac178 | 222 | uint8_t IntZmax[2],FloatZmax[2]; |
b0ssiz | 8:2d34916ac178 | 223 | uint8_t IntZmin[2],FloatZmin[2]; |
b0ssiz | 8:2d34916ac178 | 224 | FloatSep(x_max,IntXmax,FloatXmax); |
b0ssiz | 8:2d34916ac178 | 225 | FloatSep(x_min,IntXmin,FloatXmin); |
b0ssiz | 8:2d34916ac178 | 226 | FloatSep(y_max,IntYmax,FloatYmax); |
b0ssiz | 8:2d34916ac178 | 227 | FloatSep(y_min,IntYmin,FloatYmin); |
b0ssiz | 8:2d34916ac178 | 228 | FloatSep(z_max,IntZmax,FloatZmax); |
b0ssiz | 8:2d34916ac178 | 229 | FloatSep(z_min,IntZmin,FloatZmin); |
b0ssiz | 8:2d34916ac178 | 230 | |
b0ssiz | 8:2d34916ac178 | 231 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 232 | |
b0ssiz | 8:2d34916ac178 | 233 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 234 | package.length = 26; |
b0ssiz | 8:2d34916ac178 | 235 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:2d34916ac178 | 236 | package.parameter[0]=IntXmax[0]; |
b0ssiz | 8:2d34916ac178 | 237 | package.parameter[1]=IntXmax[1]; |
b0ssiz | 8:2d34916ac178 | 238 | package.parameter[2]=FloatXmax[0]; |
b0ssiz | 8:2d34916ac178 | 239 | package.parameter[3]=FloatXmax[1]; |
b0ssiz | 8:2d34916ac178 | 240 | package.parameter[4]=IntXmin[0]; |
b0ssiz | 8:2d34916ac178 | 241 | package.parameter[5]=IntXmin[1]; |
b0ssiz | 8:2d34916ac178 | 242 | package.parameter[6]=FloatXmin[0]; |
b0ssiz | 8:2d34916ac178 | 243 | package.parameter[7]=FloatXmin[1]; |
b0ssiz | 8:2d34916ac178 | 244 | package.parameter[8]=IntYmax[0]; |
b0ssiz | 8:2d34916ac178 | 245 | package.parameter[9]=IntYmax[1]; |
b0ssiz | 8:2d34916ac178 | 246 | package.parameter[10]=FloatYmax[0]; |
b0ssiz | 8:2d34916ac178 | 247 | package.parameter[11]=FloatYmax[1]; |
b0ssiz | 8:2d34916ac178 | 248 | package.parameter[12]=IntYmin[0]; |
b0ssiz | 8:2d34916ac178 | 249 | package.parameter[13]=IntYmin[1]; |
b0ssiz | 8:2d34916ac178 | 250 | package.parameter[14]=FloatYmin[0]; |
b0ssiz | 8:2d34916ac178 | 251 | package.parameter[15]=FloatYmin[1]; |
b0ssiz | 8:2d34916ac178 | 252 | package.parameter[16]=IntZmax[0]; |
b0ssiz | 8:2d34916ac178 | 253 | package.parameter[17]=IntZmax[1]; |
b0ssiz | 8:2d34916ac178 | 254 | package.parameter[18]=FloatZmax[0]; |
b0ssiz | 8:2d34916ac178 | 255 | package.parameter[19]=FloatZmax[1]; |
b0ssiz | 8:2d34916ac178 | 256 | package.parameter[20]=IntZmin[0]; |
b0ssiz | 8:2d34916ac178 | 257 | package.parameter[21]=IntZmin[1]; |
b0ssiz | 8:2d34916ac178 | 258 | package.parameter[22]=FloatZmin[0]; |
b0ssiz | 8:2d34916ac178 | 259 | package.parameter[23]=FloatZmin[1]; |
b0ssiz | 8:2d34916ac178 | 260 | |
b0ssiz | 8:2d34916ac178 | 261 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 262 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 263 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 264 | } |
b0ssiz | 8:2d34916ac178 | 265 | |
b0ssiz | 8:2d34916ac178 | 266 | uint8_t Bear_Receiver::sendOffset(uint8_t id,float offset_y,float offset_z) |
b0ssiz | 8:2d34916ac178 | 267 | { |
b0ssiz | 8:2d34916ac178 | 268 | uint8_t IntOffset_Y[2],FloatOffset_Y[2]; |
b0ssiz | 8:2d34916ac178 | 269 | uint8_t IntOffset_Z[2],FloatOffset_Z[2]; |
b0ssiz | 8:2d34916ac178 | 270 | FloatSep(offset_y,IntOffset_Y,FloatOffset_Y); |
b0ssiz | 8:2d34916ac178 | 271 | FloatSep(offset_z,IntOffset_Z,FloatOffset_Z); |
b0ssiz | 8:2d34916ac178 | 272 | |
b0ssiz | 8:2d34916ac178 | 273 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 274 | |
b0ssiz | 8:2d34916ac178 | 275 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 276 | package.length = 10; |
b0ssiz | 8:2d34916ac178 | 277 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:2d34916ac178 | 278 | package.parameter[0]=IntOffset_Y[0]; |
b0ssiz | 8:2d34916ac178 | 279 | package.parameter[1]=IntOffset_Y[1]; |
b0ssiz | 8:2d34916ac178 | 280 | package.parameter[2]=FloatOffset_Y[0]; |
b0ssiz | 8:2d34916ac178 | 281 | package.parameter[3]=FloatOffset_Y[1]; |
b0ssiz | 8:2d34916ac178 | 282 | package.parameter[4]=IntOffset_Z[0]; |
b0ssiz | 8:2d34916ac178 | 283 | package.parameter[5]=IntOffset_Z[1]; |
b0ssiz | 8:2d34916ac178 | 284 | package.parameter[6]=FloatOffset_Z[0]; |
b0ssiz | 8:2d34916ac178 | 285 | package.parameter[7]=FloatOffset_Z[1]; |
b0ssiz | 8:2d34916ac178 | 286 | |
b0ssiz | 8:2d34916ac178 | 287 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 288 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 289 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 290 | } |
b0ssiz | 8:2d34916ac178 | 291 | |
b0ssiz | 8:2d34916ac178 | 292 | uint8_t Bear_Receiver::sendBodyLength(uint8_t id,float body_length) |
b0ssiz | 8:2d34916ac178 | 293 | { |
b0ssiz | 8:2d34916ac178 | 294 | uint8_t IntBodyLength[2],FloatBodyLength[2]; |
b0ssiz | 8:2d34916ac178 | 295 | FloatSep(body_length,IntBodyLength,FloatBodyLength); |
b0ssiz | 8:2d34916ac178 | 296 | |
b0ssiz | 8:2d34916ac178 | 297 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 298 | |
b0ssiz | 8:2d34916ac178 | 299 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 300 | package.length = 6; |
b0ssiz | 8:2d34916ac178 | 301 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:2d34916ac178 | 302 | package.parameter[0]=IntBodyLength[0]; |
b0ssiz | 8:2d34916ac178 | 303 | package.parameter[1]=IntBodyLength[1]; |
b0ssiz | 8:2d34916ac178 | 304 | package.parameter[2]=FloatBodyLength[0]; |
b0ssiz | 8:2d34916ac178 | 305 | package.parameter[3]=FloatBodyLength[1]; |
b0ssiz | 8:2d34916ac178 | 306 | |
b0ssiz | 8:2d34916ac178 | 307 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 308 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 309 | return com->sendCommunicatePacket(&package); |
b0ssiz | 8:2d34916ac178 | 310 | } |
b0ssiz | 8:2d34916ac178 | 311 | |
b0ssiz | 11:b9337e23782e | 312 | uint8_t Bear_Receiver::sendUpAngleRange(uint8_t id,float max_angle,float min_angle) |
b0ssiz | 11:b9337e23782e | 313 | { |
b0ssiz | 11:b9337e23782e | 314 | uint8_t IntMaxAngle[2],FloatMaxAngle[2]; |
b0ssiz | 11:b9337e23782e | 315 | uint8_t IntMinAngle[2],FloatMinAngle[2]; |
b0ssiz | 11:b9337e23782e | 316 | FloatSep(max_angle,IntMaxAngle,FloatMaxAngle); |
b0ssiz | 11:b9337e23782e | 317 | FloatSep(min_angle,IntMinAngle,FloatMinAngle); |
b0ssiz | 11:b9337e23782e | 318 | |
b0ssiz | 11:b9337e23782e | 319 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 11:b9337e23782e | 320 | |
b0ssiz | 11:b9337e23782e | 321 | package.robotId = id; |
b0ssiz | 11:b9337e23782e | 322 | package.length = 10; |
b0ssiz | 11:b9337e23782e | 323 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 11:b9337e23782e | 324 | package.parameter[0]=IntMaxAngle[0]; |
b0ssiz | 11:b9337e23782e | 325 | package.parameter[1]=IntMaxAngle[1]; |
b0ssiz | 11:b9337e23782e | 326 | package.parameter[2]=FloatMaxAngle[0]; |
b0ssiz | 11:b9337e23782e | 327 | package.parameter[3]=FloatMaxAngle[1]; |
b0ssiz | 11:b9337e23782e | 328 | package.parameter[4]=IntMinAngle[0]; |
b0ssiz | 11:b9337e23782e | 329 | package.parameter[5]=IntMinAngle[1]; |
b0ssiz | 11:b9337e23782e | 330 | package.parameter[6]=FloatMinAngle[0]; |
b0ssiz | 11:b9337e23782e | 331 | package.parameter[7]=FloatMinAngle[1]; |
b0ssiz | 11:b9337e23782e | 332 | |
b0ssiz | 11:b9337e23782e | 333 | rs485_dirc=1; |
b0ssiz | 11:b9337e23782e | 334 | wait_us(RS485_DELAY); |
b0ssiz | 11:b9337e23782e | 335 | return com->sendCommunicatePacket(&package); |
b0ssiz | 11:b9337e23782e | 336 | } |
b0ssiz | 11:b9337e23782e | 337 | |
b0ssiz | 11:b9337e23782e | 338 | |
b0ssiz | 11:b9337e23782e | 339 | uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,float max_angle,float min_angle) |
b0ssiz | 8:2d34916ac178 | 340 | { |
b0ssiz | 8:2d34916ac178 | 341 | uint8_t IntMaxAngle[2],FloatMaxAngle[2]; |
b0ssiz | 8:2d34916ac178 | 342 | uint8_t IntMinAngle[2],FloatMinAngle[2]; |
b0ssiz | 8:2d34916ac178 | 343 | FloatSep(max_angle,IntMaxAngle,FloatMaxAngle); |
b0ssiz | 8:2d34916ac178 | 344 | FloatSep(min_angle,IntMinAngle,FloatMinAngle); |
b0ssiz | 8:2d34916ac178 | 345 | |
b0ssiz | 8:2d34916ac178 | 346 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 8:2d34916ac178 | 347 | |
b0ssiz | 8:2d34916ac178 | 348 | package.robotId = id; |
b0ssiz | 8:2d34916ac178 | 349 | package.length = 10; |
b0ssiz | 8:2d34916ac178 | 350 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 8:2d34916ac178 | 351 | package.parameter[0]=IntMaxAngle[0]; |
b0ssiz | 8:2d34916ac178 | 352 | package.parameter[1]=IntMaxAngle[1]; |
b0ssiz | 8:2d34916ac178 | 353 | package.parameter[2]=FloatMaxAngle[0]; |
b0ssiz | 8:2d34916ac178 | 354 | package.parameter[3]=FloatMaxAngle[1]; |
b0ssiz | 8:2d34916ac178 | 355 | package.parameter[4]=IntMinAngle[0]; |
b0ssiz | 8:2d34916ac178 | 356 | package.parameter[5]=IntMinAngle[1]; |
b0ssiz | 8:2d34916ac178 | 357 | package.parameter[6]=FloatMinAngle[0]; |
b0ssiz | 8:2d34916ac178 | 358 | package.parameter[7]=FloatMinAngle[1]; |
b0ssiz | 8:2d34916ac178 | 359 | |
b0ssiz | 8:2d34916ac178 | 360 | rs485_dirc=1; |
b0ssiz | 8:2d34916ac178 | 361 | wait_us(RS485_DELAY); |
b0ssiz | 8:2d34916ac178 | 362 | return com->sendCommunicatePacket(&package); |
b0ssiz | 6:f6529ad2a70d | 363 | } |