Communication for reciever
Dependencies: Fork_Boss_Communication_Robot
Dependents: BEAR_Motion BEAR_Motion_Editing4Betago
Fork of BEAR_Protocol by
Receiver.cpp@6:f6529ad2a70d, 2016-01-16 (annotated)
- Committer:
- b0ssiz
- Date:
- Sat Jan 16 03:20:27 2016 +0000
- Revision:
- 6:f6529ad2a70d
- Parent:
- 5:baf5576a14bd
- Child:
- 7:a0ea8c127611
Update function in "Receiver.h" and "Receiver.cpp"
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
b0ssiz | 5:baf5576a14bd | 1 | #include "mbed.h" |
b0ssiz | 5:baf5576a14bd | 2 | #include "Receiver.h" |
b0ssiz | 5:baf5576a14bd | 3 | #define FLOAT_CONVERTER 10000 |
b0ssiz | 5:baf5576a14bd | 4 | |
b0ssiz | 5:baf5576a14bd | 5 | DigitalOut rs485_dirc(RS485_DIRC); |
b0ssiz | 5:baf5576a14bd | 6 | |
b0ssiz | 5:baf5576a14bd | 7 | Bear_Receiver::Bear_Receiver(PinName tx,PinName rx,int baudrate) |
b0ssiz | 5:baf5576a14bd | 8 | { |
b0ssiz | 5:baf5576a14bd | 9 | com = new COMMUNICATION(tx,rx,baudrate); |
b0ssiz | 5:baf5576a14bd | 10 | } |
b0ssiz | 5:baf5576a14bd | 11 | |
b0ssiz | 6:f6529ad2a70d | 12 | uint8_t Bear_Receiver::ReceiveCommand(uint8_t* ID,uint8_t* Instruction,uint8_t* data_array) |
b0ssiz | 5:baf5576a14bd | 13 | { |
b0ssiz | 5:baf5576a14bd | 14 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:baf5576a14bd | 15 | |
b0ssiz | 5:baf5576a14bd | 16 | rs485_dirc=0; |
b0ssiz | 5:baf5576a14bd | 17 | wait_us(RS485_DELAY); |
b0ssiz | 5:baf5576a14bd | 18 | uint8_t status = com->receiveCommunicatePacket(&package); |
b0ssiz | 5:baf5576a14bd | 19 | |
b0ssiz | 5:baf5576a14bd | 20 | if(status == ANDANTE_ERRBIT_NONE) { |
b0ssiz | 5:baf5576a14bd | 21 | |
b0ssiz | 5:baf5576a14bd | 22 | *ID = package.robotId; |
b0ssiz | 5:baf5576a14bd | 23 | *Instruction = package.instructionErrorId; |
b0ssiz | 6:f6529ad2a70d | 24 | data_array = package.parameter; |
b0ssiz | 5:baf5576a14bd | 25 | |
b0ssiz | 5:baf5576a14bd | 26 | } |
b0ssiz | 5:baf5576a14bd | 27 | return status; |
b0ssiz | 5:baf5576a14bd | 28 | } |
b0ssiz | 5:baf5576a14bd | 29 | |
b0ssiz | 5:baf5576a14bd | 30 | |
b0ssiz | 5:baf5576a14bd | 31 | |
b0ssiz | 5:baf5576a14bd | 32 | void Bear_Receiver::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array) |
b0ssiz | 5:baf5576a14bd | 33 | { |
b0ssiz | 5:baf5576a14bd | 34 | float float_buffer; |
b0ssiz | 5:baf5576a14bd | 35 | float int_buffer; |
b0ssiz | 5:baf5576a14bd | 36 | int16_t integer; |
b0ssiz | 5:baf5576a14bd | 37 | int16_t floating_point; |
b0ssiz | 5:baf5576a14bd | 38 | |
b0ssiz | 5:baf5576a14bd | 39 | float_buffer=modf(input_float,&int_buffer); |
b0ssiz | 5:baf5576a14bd | 40 | float_buffer*=FLOAT_CONVERTER; |
b0ssiz | 5:baf5576a14bd | 41 | integer=(int16_t)int_buffer; |
b0ssiz | 5:baf5576a14bd | 42 | floating_point=(int16_t)float_buffer; |
b0ssiz | 5:baf5576a14bd | 43 | Utilities::ConvertInt16ToUInt8Array(integer,int_data_array); |
b0ssiz | 5:baf5576a14bd | 44 | Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array); |
b0ssiz | 5:baf5576a14bd | 45 | } |
b0ssiz | 5:baf5576a14bd | 46 | |
b0ssiz | 5:baf5576a14bd | 47 | |
b0ssiz | 5:baf5576a14bd | 48 | |
b0ssiz | 5:baf5576a14bd | 49 | |
b0ssiz | 5:baf5576a14bd | 50 | uint8_t Bear_Receiver::sendMotorPos(uint8_t id,float up_angle,float low_angle) |
b0ssiz | 5:baf5576a14bd | 51 | { |
b0ssiz | 5:baf5576a14bd | 52 | uint8_t IntUpAngle[2],FloatUpAngle[2]; |
b0ssiz | 5:baf5576a14bd | 53 | uint8_t IntLowAngle[2],FloatLowAngle[2]; |
b0ssiz | 5:baf5576a14bd | 54 | FloatSep(up_angle,IntUpAngle,FloatUpAngle); |
b0ssiz | 5:baf5576a14bd | 55 | FloatSep(low_angle,IntLowAngle,FloatLowAngle); |
b0ssiz | 5:baf5576a14bd | 56 | |
b0ssiz | 5:baf5576a14bd | 57 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 5:baf5576a14bd | 58 | |
b0ssiz | 5:baf5576a14bd | 59 | package.robotId = id; |
b0ssiz | 5:baf5576a14bd | 60 | package.length = 10; |
b0ssiz | 5:baf5576a14bd | 61 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 5:baf5576a14bd | 62 | package.parameter[0]=IntUpAngle[0]; |
b0ssiz | 5:baf5576a14bd | 63 | package.parameter[1]=IntUpAngle[1]; |
b0ssiz | 5:baf5576a14bd | 64 | package.parameter[2]=FloatUpAngle[0]; |
b0ssiz | 5:baf5576a14bd | 65 | package.parameter[3]=FloatUpAngle[1]; |
b0ssiz | 5:baf5576a14bd | 66 | package.parameter[4]=IntLowAngle[0]; |
b0ssiz | 5:baf5576a14bd | 67 | package.parameter[5]=IntLowAngle[1]; |
b0ssiz | 5:baf5576a14bd | 68 | package.parameter[6]=FloatLowAngle[0]; |
b0ssiz | 5:baf5576a14bd | 69 | package.parameter[7]=FloatLowAngle[1]; |
b0ssiz | 5:baf5576a14bd | 70 | |
b0ssiz | 5:baf5576a14bd | 71 | rs485_dirc=1; |
b0ssiz | 5:baf5576a14bd | 72 | wait_us(RS485_DELAY); |
b0ssiz | 5:baf5576a14bd | 73 | return com->sendCommunicatePacket(&package); |
b0ssiz | 6:f6529ad2a70d | 74 | |
b0ssiz | 6:f6529ad2a70d | 75 | |
b0ssiz | 6:f6529ad2a70d | 76 | } |
b0ssiz | 6:f6529ad2a70d | 77 | |
b0ssiz | 6:f6529ad2a70d | 78 | |
b0ssiz | 6:f6529ad2a70d | 79 | |
b0ssiz | 6:f6529ad2a70d | 80 | uint8_t Bear_Receiver::sendUpMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd) |
b0ssiz | 6:f6529ad2a70d | 81 | { |
b0ssiz | 6:f6529ad2a70d | 82 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 6:f6529ad2a70d | 83 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 6:f6529ad2a70d | 84 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 6:f6529ad2a70d | 85 | |
b0ssiz | 6:f6529ad2a70d | 86 | FloatSep(Kp,IntKp,FloatKp); |
b0ssiz | 6:f6529ad2a70d | 87 | FloatSep(Ki,IntKi,FloatKi); |
b0ssiz | 6:f6529ad2a70d | 88 | FloatSep(Kd,IntKd,FloatKd); |
b0ssiz | 5:baf5576a14bd | 89 | |
b0ssiz | 5:baf5576a14bd | 90 | |
b0ssiz | 6:f6529ad2a70d | 91 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 6:f6529ad2a70d | 92 | |
b0ssiz | 6:f6529ad2a70d | 93 | package.robotId = id; |
b0ssiz | 6:f6529ad2a70d | 94 | package.length = 14; |
b0ssiz | 6:f6529ad2a70d | 95 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 6:f6529ad2a70d | 96 | package.parameter[0]=IntKp[0]; |
b0ssiz | 6:f6529ad2a70d | 97 | package.parameter[1]=IntKp[1]; |
b0ssiz | 6:f6529ad2a70d | 98 | package.parameter[2]=FloatKp[0]; |
b0ssiz | 6:f6529ad2a70d | 99 | package.parameter[3]=FloatKp[1]; |
b0ssiz | 6:f6529ad2a70d | 100 | package.parameter[4]=IntKi[0]; |
b0ssiz | 6:f6529ad2a70d | 101 | package.parameter[5]=IntKi[1]; |
b0ssiz | 6:f6529ad2a70d | 102 | package.parameter[6]=FloatKi[0]; |
b0ssiz | 6:f6529ad2a70d | 103 | package.parameter[7]=FloatKi[1]; |
b0ssiz | 6:f6529ad2a70d | 104 | package.parameter[8]=IntKd[0]; |
b0ssiz | 6:f6529ad2a70d | 105 | package.parameter[9]=IntKd[1]; |
b0ssiz | 6:f6529ad2a70d | 106 | package.parameter[10]=FloatKd[0]; |
b0ssiz | 6:f6529ad2a70d | 107 | package.parameter[11]=FloatKd[1]; |
b0ssiz | 6:f6529ad2a70d | 108 | |
b0ssiz | 6:f6529ad2a70d | 109 | rs485_dirc=1; |
b0ssiz | 6:f6529ad2a70d | 110 | wait_us(RS485_DELAY); |
b0ssiz | 6:f6529ad2a70d | 111 | return com->sendCommunicatePacket(&package); |
b0ssiz | 6:f6529ad2a70d | 112 | } |
b0ssiz | 6:f6529ad2a70d | 113 | |
b0ssiz | 6:f6529ad2a70d | 114 | |
b0ssiz | 6:f6529ad2a70d | 115 | |
b0ssiz | 6:f6529ad2a70d | 116 | |
b0ssiz | 6:f6529ad2a70d | 117 | uint8_t Bear_Receiver::sendLowMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd) |
b0ssiz | 6:f6529ad2a70d | 118 | { |
b0ssiz | 6:f6529ad2a70d | 119 | uint8_t IntKp[2],FloatKp[2]; |
b0ssiz | 6:f6529ad2a70d | 120 | uint8_t IntKi[2],FloatKi[2]; |
b0ssiz | 6:f6529ad2a70d | 121 | uint8_t IntKd[2],FloatKd[2]; |
b0ssiz | 6:f6529ad2a70d | 122 | |
b0ssiz | 6:f6529ad2a70d | 123 | FloatSep(Kp,IntKp,FloatKp); |
b0ssiz | 6:f6529ad2a70d | 124 | FloatSep(Ki,IntKi,FloatKi); |
b0ssiz | 6:f6529ad2a70d | 125 | FloatSep(Kd,IntKd,FloatKd); |
b0ssiz | 6:f6529ad2a70d | 126 | |
b0ssiz | 6:f6529ad2a70d | 127 | |
b0ssiz | 6:f6529ad2a70d | 128 | ANDANTE_PROTOCOL_PACKET package; |
b0ssiz | 6:f6529ad2a70d | 129 | |
b0ssiz | 6:f6529ad2a70d | 130 | package.robotId = id; |
b0ssiz | 6:f6529ad2a70d | 131 | package.length = 14; |
b0ssiz | 6:f6529ad2a70d | 132 | package.instructionErrorId = WRITE_DATA; |
b0ssiz | 6:f6529ad2a70d | 133 | package.parameter[0]=IntKp[0]; |
b0ssiz | 6:f6529ad2a70d | 134 | package.parameter[1]=IntKp[1]; |
b0ssiz | 6:f6529ad2a70d | 135 | package.parameter[2]=FloatKp[0]; |
b0ssiz | 6:f6529ad2a70d | 136 | package.parameter[3]=FloatKp[1]; |
b0ssiz | 6:f6529ad2a70d | 137 | package.parameter[4]=IntKi[0]; |
b0ssiz | 6:f6529ad2a70d | 138 | package.parameter[5]=IntKi[1]; |
b0ssiz | 6:f6529ad2a70d | 139 | package.parameter[6]=FloatKi[0]; |
b0ssiz | 6:f6529ad2a70d | 140 | package.parameter[7]=FloatKi[1]; |
b0ssiz | 6:f6529ad2a70d | 141 | package.parameter[8]=IntKd[0]; |
b0ssiz | 6:f6529ad2a70d | 142 | package.parameter[9]=IntKd[1]; |
b0ssiz | 6:f6529ad2a70d | 143 | package.parameter[10]=FloatKd[0]; |
b0ssiz | 6:f6529ad2a70d | 144 | package.parameter[11]=FloatKd[1]; |
b0ssiz | 6:f6529ad2a70d | 145 | |
b0ssiz | 6:f6529ad2a70d | 146 | rs485_dirc=1; |
b0ssiz | 6:f6529ad2a70d | 147 | wait_us(RS485_DELAY); |
b0ssiz | 6:f6529ad2a70d | 148 | return com->sendCommunicatePacket(&package); |
b0ssiz | 6:f6529ad2a70d | 149 | } |