Diff: Receiver.cpp

Revision:

12:be8675c18a58

Parent:

11:b9337e23782e

Child:

13:e7404c675611

--- a/Receiver.cpp	Thu Jan 21 16:51:02 2016 +0000
+++ b/Receiver.cpp	Thu Jan 21 17:28:25 2016 +0000
@@ -152,7 +152,28 @@
 
 
 
-uint8_t Bear_Receiver::sendMargin(uint8_t id,float margin)
+uint8_t Bear_Receiver::sendUpMargin(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::sendLowMargin(uint8_t id,float margin)
 {
     uint8_t IntMargin[2],FloatMargin[2];
     FloatSep(margin,IntMargin,FloatMargin);