Diff: Receiver.cpp

Revision:

8:2d34916ac178

Parent:

7:a0ea8c127611

Child:

11:b9337e23782e

--- a/Receiver.cpp	Sat Jan 16 12:01:43 2016 +0000
+++ b/Receiver.cpp	Thu Jan 21 14:59:21 2016 +0000
@@ -9,7 +9,7 @@
     com = new COMMUNICATION(tx,rx,baudrate);
 }
 
-uint8_t Bear_Receiver::ReceiveCommand(uint8_t ID,uint8_t* data_array)
+uint8_t Bear_Receiver::ReceiveCommand(uint8_t *id,uint8_t *data_array,uint8_t *ins)
 {
     ANDANTE_PROTOCOL_PACKET package;
 
@@ -19,8 +19,9 @@
 
     if(status == ANDANTE_ERRBIT_NONE) {
 
-        ID = package.robotId;
+        *id = package.robotId;
         data_array = package.parameter;
+        *ins=package.instructionErrorId;
 
     }
     return status;
@@ -147,4 +148,189 @@
     rs485_dirc=1;
     wait_us(RS485_DELAY);
     return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Receiver::sendMargin(uint8_t id,float 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];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+
+}
+
+uint8_t Bear_Receiver::sendHeight(uint8_t id,float 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];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Receiver::sendWheelPos(uint8_t id,float 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];
+
+    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 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];
+
+    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 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];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Receiver::sendBodyLength(uint8_t id,float body_length)
+{
+    uint8_t IntBodyLength[2],FloatBodyLength[2];
+    FloatSep(body_length,IntBodyLength,FloatBodyLength);
+
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 6;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=IntBodyLength[0];
+    package.parameter[1]=IntBodyLength[1];
+    package.parameter[2]=FloatBodyLength[0];
+    package.parameter[3]=FloatBodyLength[1];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Receiver::sendAngleRange(uint8_t id,float max_angle,float min_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];
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
 }
\ No newline at end of file