Diff: Receiver.cpp

Revision:

11:b9337e23782e

Parent:

8:2d34916ac178

Child:

12:be8675c18a58

--- a/Receiver.cpp	Thu Jan 21 16:42:25 2016 +0000
+++ b/Receiver.cpp	Thu Jan 21 16:51:02 2016 +0000
@@ -309,7 +309,34 @@
     return com->sendCommunicatePacket(&package);
 }
 
-uint8_t Bear_Receiver::sendAngleRange(uint8_t id,float max_angle,float min_angle)
+uint8_t Bear_Receiver::sendUpAngleRange(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);
+}
+
+
+uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,float max_angle,float min_angle)
 {
     uint8_t IntMaxAngle[2],FloatMaxAngle[2];
     uint8_t IntMinAngle[2],FloatMinAngle[2];