Communication for reciever
Dependencies: Fork_Boss_Communication_Robot
Dependents: BEAR_Motion BEAR_Motion_Editing4Betago
Fork of BEAR_Protocol by
Receiver.cpp
- Committer:
- b0ssiz
- Date:
- 2016-01-21
- Revision:
- 8:2d34916ac178
- Parent:
- 7:a0ea8c127611
- Child:
- 11:b9337e23782e
File content as of revision 8:2d34916ac178:
#include "mbed.h" #include "Receiver.h" DigitalOut rs485_dirc(RS485_DIRC); Bear_Receiver::Bear_Receiver(PinName tx,PinName rx,int baudrate) { com = new COMMUNICATION(tx,rx,baudrate); } uint8_t Bear_Receiver::ReceiveCommand(uint8_t *id,uint8_t *data_array,uint8_t *ins) { ANDANTE_PROTOCOL_PACKET package; rs485_dirc=0; wait_us(RS485_DELAY); uint8_t status = com->receiveCommunicatePacket(&package); if(status == ANDANTE_ERRBIT_NONE) { *id = package.robotId; data_array = package.parameter; *ins=package.instructionErrorId; } return status; } void Bear_Receiver::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array) { float float_buffer; float int_buffer; int16_t integer; int16_t floating_point; float_buffer=modf(input_float,&int_buffer); float_buffer*=FLOAT_CONVERTER; integer=(int16_t)int_buffer; floating_point=(int16_t)float_buffer; Utilities::ConvertInt16ToUInt8Array(integer,int_data_array); Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array); } uint8_t Bear_Receiver::sendMotorPos(uint8_t id,float up_angle,float low_angle) { uint8_t IntUpAngle[2],FloatUpAngle[2]; uint8_t IntLowAngle[2],FloatLowAngle[2]; FloatSep(up_angle,IntUpAngle,FloatUpAngle); FloatSep(low_angle,IntLowAngle,FloatLowAngle); ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 10; package.instructionErrorId = WRITE_DATA; package.parameter[0]=IntUpAngle[0]; package.parameter[1]=IntUpAngle[1]; package.parameter[2]=FloatUpAngle[0]; package.parameter[3]=FloatUpAngle[1]; package.parameter[4]=IntLowAngle[0]; package.parameter[5]=IntLowAngle[1]; package.parameter[6]=FloatLowAngle[0]; package.parameter[7]=FloatLowAngle[1]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendUpMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd) { uint8_t IntKp[2],FloatKp[2]; uint8_t IntKi[2],FloatKi[2]; uint8_t IntKd[2],FloatKd[2]; FloatSep(Kp,IntKp,FloatKp); FloatSep(Ki,IntKi,FloatKi); FloatSep(Kd,IntKd,FloatKd); ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 14; package.instructionErrorId = WRITE_DATA; package.parameter[0]=IntKp[0]; package.parameter[1]=IntKp[1]; package.parameter[2]=FloatKp[0]; package.parameter[3]=FloatKp[1]; package.parameter[4]=IntKi[0]; package.parameter[5]=IntKi[1]; package.parameter[6]=FloatKi[0]; package.parameter[7]=FloatKi[1]; package.parameter[8]=IntKd[0]; package.parameter[9]=IntKd[1]; package.parameter[10]=FloatKd[0]; package.parameter[11]=FloatKd[1]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendLowMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd) { uint8_t IntKp[2],FloatKp[2]; uint8_t IntKi[2],FloatKi[2]; uint8_t IntKd[2],FloatKd[2]; FloatSep(Kp,IntKp,FloatKp); FloatSep(Ki,IntKi,FloatKi); FloatSep(Kd,IntKd,FloatKd); ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 14; package.instructionErrorId = WRITE_DATA; package.parameter[0]=IntKp[0]; package.parameter[1]=IntKp[1]; package.parameter[2]=FloatKp[0]; package.parameter[3]=FloatKp[1]; package.parameter[4]=IntKi[0]; package.parameter[5]=IntKi[1]; package.parameter[6]=FloatKi[0]; package.parameter[7]=FloatKi[1]; package.parameter[8]=IntKd[0]; package.parameter[9]=IntKd[1]; package.parameter[10]=FloatKd[0]; package.parameter[11]=FloatKd[1]; 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); }