Diff: Receiver.cpp

Revision:

14:1c3180c64272

Parent:

13:e7404c675611

Child:

15:fe0cc017c66d

--- a/Receiver.cpp	Fri Jan 22 16:34:11 2016 +0000
+++ b/Receiver.cpp	Fri Jan 22 19:23:31 2016 +0000
@@ -152,20 +152,17 @@
 
 
 
-uint8_t Bear_Receiver::sendUpMargin(uint8_t id,float margin)
+uint8_t Bear_Receiver::sendUpMargin(uint8_t id,uint8_t *Margin)
 {
-    uint8_t IntMargin[2],FloatMargin[2];
-    FloatSep(margin,IntMargin,FloatMargin);
-
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 6;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=IntMargin[0];
-    package.parameter[1]=IntMargin[1];
-    package.parameter[2]=FloatMargin[0];
-    package.parameter[3]=FloatMargin[1];
+    package.parameter[0]=Margin[0];
+    package.parameter[1]=Margin[1];
+    package.parameter[2]=Margin[2];
+    package.parameter[3]=Margin[3];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
@@ -173,20 +170,17 @@
 
 }
 
-uint8_t Bear_Receiver::sendLowMargin(uint8_t id,float margin)
+uint8_t Bear_Receiver::sendLowMargin(uint8_t id,uint8_t *Margin)
 {
-    uint8_t IntMargin[2],FloatMargin[2];
-    FloatSep(margin,IntMargin,FloatMargin);
-
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 6;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=IntMargin[0];
-    package.parameter[1]=IntMargin[1];
-    package.parameter[2]=FloatMargin[0];
-    package.parameter[3]=FloatMargin[1];
+    package.parameter[0]=Margin[0];
+    package.parameter[1]=Margin[1];
+    package.parameter[2]=Margin[2];
+    package.parameter[3]=Margin[3];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
@@ -194,162 +188,130 @@
 
 }
 
-uint8_t Bear_Receiver::sendHeight(uint8_t id,float height)
+uint8_t Bear_Receiver::sendHeight(uint8_t id,uint8_t *Height)
 {
-    uint8_t IntHeight[2],FloatHeight[2];
-    FloatSep(height,IntHeight,FloatHeight);
-
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 6;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=IntHeight[0];
-    package.parameter[1]=IntHeight[1];
-    package.parameter[2]=FloatHeight[0];
-    package.parameter[3]=FloatHeight[1];
+    package.parameter[0]=Height[0];
+    package.parameter[1]=Height[1];
+    package.parameter[2]=Height[2];
+    package.parameter[3]=Height[3];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
     return com->sendCommunicatePacket(&package);
 }
 
-uint8_t Bear_Receiver::sendWheelPos(uint8_t id,float WheelPos)
+uint8_t Bear_Receiver::sendWheelPos(uint8_t id,uint8_t *WheelPos)
 {
-    uint8_t IntWheelPos[2],FloatWheelPos[2];
-    FloatSep(WheelPos,IntWheelPos,FloatWheelPos);
-
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 6;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=IntWheelPos[0];
-    package.parameter[1]=IntWheelPos[1];
-    package.parameter[2]=FloatWheelPos[0];
-    package.parameter[3]=FloatWheelPos[1];
+    package.parameter[0]=WheelPos[0];
+    package.parameter[1]=WheelPos[1];
+    package.parameter[2]=WheelPos[2];
+    package.parameter[3]=WheelPos[3];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
     return com->sendCommunicatePacket(&package);
 }
 
-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)
+uint8_t Bear_Receiver::sendMagData(uint8_t id,uint8_t *Mag)
 {
-    uint8_t IntXmax[2],FloatXmax[2];
-    uint8_t IntXmin[2],FloatXmin[2];
-    uint8_t IntYmax[2],FloatYmax[2];
-    uint8_t IntYmin[2],FloatYmin[2];
-    uint8_t IntZmax[2],FloatZmax[2];
-    uint8_t IntZmin[2],FloatZmin[2];
-    FloatSep(x_max,IntXmax,FloatXmax);
-    FloatSep(x_min,IntXmin,FloatXmin);
-    FloatSep(y_max,IntYmax,FloatYmax);
-    FloatSep(y_min,IntYmin,FloatYmin);
-    FloatSep(z_max,IntZmax,FloatZmax);
-    FloatSep(z_min,IntZmin,FloatZmin);
-
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 26;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=IntXmax[0];
-    package.parameter[1]=IntXmax[1];
-    package.parameter[2]=FloatXmax[0];
-    package.parameter[3]=FloatXmax[1];
-    package.parameter[4]=IntXmin[0];
-    package.parameter[5]=IntXmin[1];
-    package.parameter[6]=FloatXmin[0];
-    package.parameter[7]=FloatXmin[1];
-    package.parameter[8]=IntYmax[0];
-    package.parameter[9]=IntYmax[1];
-    package.parameter[10]=FloatYmax[0];
-    package.parameter[11]=FloatYmax[1];
-    package.parameter[12]=IntYmin[0];
-    package.parameter[13]=IntYmin[1];
-    package.parameter[14]=FloatYmin[0];
-    package.parameter[15]=FloatYmin[1];
-    package.parameter[16]=IntZmax[0];
-    package.parameter[17]=IntZmax[1];
-    package.parameter[18]=FloatZmax[0];
-    package.parameter[19]=FloatZmax[1];
-    package.parameter[20]=IntZmin[0];
-    package.parameter[21]=IntZmin[1];
-    package.parameter[22]=FloatZmin[0];
-    package.parameter[23]=FloatZmin[1];
+    package.parameter[0]=Mag[0];
+    package.parameter[1]=Mag[1];
+    package.parameter[2]=Mag[2];
+    package.parameter[3]=Mag[3];
+    package.parameter[4]=Mag[4];
+    package.parameter[5]=Mag[5];
+    package.parameter[6]=Mag[6];
+    package.parameter[7]=Mag[7];
+    package.parameter[8]=Mag[8];
+    package.parameter[9]=Mag[9];
+    package.parameter[10]=Mag[10];
+    package.parameter[11]=Mag[11];
+    package.parameter[12]=Mag[12];
+    package.parameter[13]=Mag[13];
+    package.parameter[14]=Mag[14];
+    package.parameter[15]=Mag[15];
+    package.parameter[16]=Mag[16];
+    package.parameter[17]=Mag[17];
+    package.parameter[18]=Mag[18];
+    package.parameter[19]=Mag[19];
+    package.parameter[20]=Mag[20];
+    package.parameter[21]=Mag[21];
+    package.parameter[22]=Mag[22];
+    package.parameter[23]=Mag[23];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
     return com->sendCommunicatePacket(&package);
 }
 
-uint8_t Bear_Receiver::sendOffset(uint8_t id,float offset_y,float offset_z)
+uint8_t Bear_Receiver::sendOffset(uint8_t id,uint8_t *Offset)
 {
-    uint8_t IntOffset_Y[2],FloatOffset_Y[2];
-    uint8_t IntOffset_Z[2],FloatOffset_Z[2];
-    FloatSep(offset_y,IntOffset_Y,FloatOffset_Y);
-    FloatSep(offset_z,IntOffset_Z,FloatOffset_Z);
-
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 10;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=IntOffset_Y[0];
-    package.parameter[1]=IntOffset_Y[1];
-    package.parameter[2]=FloatOffset_Y[0];
-    package.parameter[3]=FloatOffset_Y[1];
-    package.parameter[4]=IntOffset_Z[0];
-    package.parameter[5]=IntOffset_Z[1];
-    package.parameter[6]=FloatOffset_Z[0];
-    package.parameter[7]=FloatOffset_Z[1];
+    package.parameter[0]=Offset[0];
+    package.parameter[1]=Offset[1];
+    package.parameter[2]=Offset[2];
+    package.parameter[3]=Offset[3];
+    package.parameter[4]=Offset[4];
+    package.parameter[5]=Offset[5];
+    package.parameter[6]=Offset[6];
+    package.parameter[7]=Offset[7];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
     return com->sendCommunicatePacket(&package);
 }
 
-uint8_t Bear_Receiver::sendBodyWidth(uint8_t id,float body_Width)
+uint8_t Bear_Receiver::sendBodyWidth(uint8_t id,uint8_t *BodyWidth)
 {
-    uint8_t IntBodyWidth[2],FloatBodyWidth[2];
-    FloatSep(body_Width,IntBodyWidth,FloatBodyWidth);
-
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 6;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=IntBodyWidth[0];
-    package.parameter[1]=IntBodyWidth[1];
-    package.parameter[2]=FloatBodyWidth[0];
-    package.parameter[3]=FloatBodyWidth[1];
+    package.parameter[0]=BodyWidth[0];
+    package.parameter[1]=BodyWidth[1];
+    package.parameter[2]=BodyWidth[2];
+    package.parameter[3]=BodyWidth[3];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
     return com->sendCommunicatePacket(&package);
 }
 
-uint8_t Bear_Receiver::sendUpAngleRange(uint8_t id,float max_angle,float min_angle)
+uint8_t Bear_Receiver::sendUpAngleRange(uint8_t id,uint8_t *Angle)
 {
-    uint8_t IntMaxAngle[2],FloatMaxAngle[2];
-    uint8_t IntMinAngle[2],FloatMinAngle[2];
-    FloatSep(max_angle,IntMaxAngle,FloatMaxAngle);
-    FloatSep(min_angle,IntMinAngle,FloatMinAngle);
-
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 10;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=IntMaxAngle[0];
-    package.parameter[1]=IntMaxAngle[1];
-    package.parameter[2]=FloatMaxAngle[0];
-    package.parameter[3]=FloatMaxAngle[1];
-    package.parameter[4]=IntMinAngle[0];
-    package.parameter[5]=IntMinAngle[1];
-    package.parameter[6]=FloatMinAngle[0];
-    package.parameter[7]=FloatMinAngle[1];
+    package.parameter[0]=Angle[0];
+    package.parameter[1]=Angle[1];
+    package.parameter[2]=Angle[2];
+    package.parameter[3]=Angle[3];
+    package.parameter[4]=Angle[4];
+    package.parameter[5]=Angle[5];
+    package.parameter[6]=Angle[6];
+    package.parameter[7]=Angle[7];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
@@ -357,26 +319,21 @@
 }
 
 
-uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,float max_angle,float min_angle)
+uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,uint8_t *Angle)
 {
-    uint8_t IntMaxAngle[2],FloatMaxAngle[2];
-    uint8_t IntMinAngle[2],FloatMinAngle[2];
-    FloatSep(max_angle,IntMaxAngle,FloatMaxAngle);
-    FloatSep(min_angle,IntMinAngle,FloatMinAngle);
-
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 10;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=IntMaxAngle[0];
-    package.parameter[1]=IntMaxAngle[1];
-    package.parameter[2]=FloatMaxAngle[0];
-    package.parameter[3]=FloatMaxAngle[1];
-    package.parameter[4]=IntMinAngle[0];
-    package.parameter[5]=IntMinAngle[1];
-    package.parameter[6]=FloatMinAngle[0];
-    package.parameter[7]=FloatMinAngle[1];
+    package.parameter[0]=Angle[0];
+    package.parameter[1]=Angle[1];
+    package.parameter[2]=Angle[2];
+    package.parameter[3]=Angle[3];
+    package.parameter[4]=Angle[4];
+    package.parameter[5]=Angle[5];
+    package.parameter[6]=Angle[6];
+    package.parameter[7]=Angle[7];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);