BE@R lab / BEAR_Reciever

Communication for reciever

Dependencies:   Fork_Boss_Communication_Robot

Dependents:   BEAR_Motion BEAR_Motion_Editing4Betago

Fork of BEAR_Protocol by BE@R lab

Receiver.h@12:be8675c18a58, 2016-01-21 (annotated)

Committer:
b0ssiz
Date:
Thu Jan 21 17:28:25 2016 +0000
Revision:
12:be8675c18a58
Parent:
11:b9337e23782e
Child:
13:e7404c675611
Update; - Add macro in Command.h; - Seperate function sendMargin to sendUpMargin and sendLowMargin

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 10:c9bc32595d56 1 #ifndef __RECEIVER__H_
soulx 10:c9bc32595d56 2 #define __RECEIVER__H_
soulx 10:c9bc32595d56 3
b0ssiz 5:baf5576a14bd 4 #include "mbed.h"
b0ssiz 5:baf5576a14bd 5 #include "iSerial.h"
b0ssiz 5:baf5576a14bd 6 #include "Command.h"
b0ssiz 5:baf5576a14bd 7 #include "communication.h"
b0ssiz 5:baf5576a14bd 8 #define RS485_DELAY 90
b0ssiz 5:baf5576a14bd 9 #define RS485_DIRC PB_5
b0ssiz 7:a0ea8c127611 10 #define FLOAT_CONVERTER 10000
b0ssiz 5:baf5576a14bd 11
b0ssiz 5:baf5576a14bd 12 class Bear_Receiver
b0ssiz 5:baf5576a14bd 13 {
b0ssiz 5:baf5576a14bd 14 private:
b0ssiz 5:baf5576a14bd 15 COMMUNICATION *com;
b0ssiz 5:baf5576a14bd 16
b0ssiz 5:baf5576a14bd 17 public:
b0ssiz 5:baf5576a14bd 18 Bear_Receiver(PinName,PinName,int);
b0ssiz 5:baf5576a14bd 19 void FloatSep(float,uint8_t*,uint8_t*);
b0ssiz 7:a0ea8c127611 20
b0ssiz 5:baf5576a14bd 21 //Receiver
b0ssiz 8:2d34916ac178 22 uint8_t ReceiveCommand(uint8_t*,uint8_t*,uint8_t*);
b0ssiz 5:baf5576a14bd 23 //Sender
b0ssiz 5:baf5576a14bd 24 uint8_t sendMotorPos(uint8_t,float,float);
b0ssiz 6:f6529ad2a70d 25 uint8_t sendUpMotorKpKiKd(uint8_t,float,float,float);
b0ssiz 6:f6529ad2a70d 26 uint8_t sendLowMotorKpKiKd(uint8_t,float,float,float);
b0ssiz 12:be8675c18a58 27 uint8_t sendUpMargin(uint8_t,float);
b0ssiz 12:be8675c18a58 28 uint8_t sendLowMargin(uint8_t,float);
b0ssiz 5:baf5576a14bd 29 uint8_t sendHeight(uint8_t,float);
b0ssiz 5:baf5576a14bd 30 uint8_t sendWheelPos(uint8_t,float);
b0ssiz 5:baf5576a14bd 31 uint8_t sendMagData(uint8_t,float,float,float,float,float,float);
b0ssiz 5:baf5576a14bd 32 uint8_t sendOffset(uint8_t,float,float);
b0ssiz 5:baf5576a14bd 33 uint8_t sendBodyLength(uint8_t,float);
b0ssiz 11:b9337e23782e 34 uint8_t sendUpAngleRange(uint8_t,float,float);
b0ssiz 11:b9337e23782e 35 uint8_t sendLowAngleRange(uint8_t,float,float);
soulx 10:c9bc32595d56 36 };
soulx 10:c9bc32595d56 37
soulx 10:c9bc32595d56 38 #endif