File content as of revision 7:a0ea8c127611:

#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)
{
    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;

    }
    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);
}