Communication for reciever
Dependencies: Fork_Boss_Communication_Robot
Dependents: BEAR_Motion BEAR_Motion_Editing4Betago
Fork of BEAR_Protocol by
Diff: Receiver.cpp
- Revision:
- 14:1c3180c64272
- Parent:
- 13:e7404c675611
- Child:
- 15:fe0cc017c66d
diff -r e7404c675611 -r 1c3180c64272 Receiver.cpp --- a/Receiver.cpp Fri Jan 22 16:34:11 2016 +0000 +++ b/Receiver.cpp Fri Jan 22 19:23:31 2016 +0000 @@ -152,20 +152,17 @@ -uint8_t Bear_Receiver::sendUpMargin(uint8_t id,float margin) +uint8_t Bear_Receiver::sendUpMargin(uint8_t id,uint8_t *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]; + package.parameter[0]=Margin[0]; + package.parameter[1]=Margin[1]; + package.parameter[2]=Margin[2]; + package.parameter[3]=Margin[3]; rs485_dirc=1; wait_us(RS485_DELAY); @@ -173,20 +170,17 @@ } -uint8_t Bear_Receiver::sendLowMargin(uint8_t id,float margin) +uint8_t Bear_Receiver::sendLowMargin(uint8_t id,uint8_t *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]; + package.parameter[0]=Margin[0]; + package.parameter[1]=Margin[1]; + package.parameter[2]=Margin[2]; + package.parameter[3]=Margin[3]; rs485_dirc=1; wait_us(RS485_DELAY); @@ -194,162 +188,130 @@ } -uint8_t Bear_Receiver::sendHeight(uint8_t id,float height) +uint8_t Bear_Receiver::sendHeight(uint8_t id,uint8_t *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]; + package.parameter[0]=Height[0]; + package.parameter[1]=Height[1]; + package.parameter[2]=Height[2]; + package.parameter[3]=Height[3]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } -uint8_t Bear_Receiver::sendWheelPos(uint8_t id,float WheelPos) +uint8_t Bear_Receiver::sendWheelPos(uint8_t id,uint8_t *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]; + package.parameter[0]=WheelPos[0]; + package.parameter[1]=WheelPos[1]; + package.parameter[2]=WheelPos[2]; + package.parameter[3]=WheelPos[3]; 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 Bear_Receiver::sendMagData(uint8_t id,uint8_t *Mag) { - 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]; + package.parameter[0]=Mag[0]; + package.parameter[1]=Mag[1]; + package.parameter[2]=Mag[2]; + package.parameter[3]=Mag[3]; + package.parameter[4]=Mag[4]; + package.parameter[5]=Mag[5]; + package.parameter[6]=Mag[6]; + package.parameter[7]=Mag[7]; + package.parameter[8]=Mag[8]; + package.parameter[9]=Mag[9]; + package.parameter[10]=Mag[10]; + package.parameter[11]=Mag[11]; + package.parameter[12]=Mag[12]; + package.parameter[13]=Mag[13]; + package.parameter[14]=Mag[14]; + package.parameter[15]=Mag[15]; + package.parameter[16]=Mag[16]; + package.parameter[17]=Mag[17]; + package.parameter[18]=Mag[18]; + package.parameter[19]=Mag[19]; + package.parameter[20]=Mag[20]; + package.parameter[21]=Mag[21]; + package.parameter[22]=Mag[22]; + package.parameter[23]=Mag[23]; 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 Bear_Receiver::sendOffset(uint8_t id,uint8_t *Offset) { - 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]; + package.parameter[0]=Offset[0]; + package.parameter[1]=Offset[1]; + package.parameter[2]=Offset[2]; + package.parameter[3]=Offset[3]; + package.parameter[4]=Offset[4]; + package.parameter[5]=Offset[5]; + package.parameter[6]=Offset[6]; + package.parameter[7]=Offset[7]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } -uint8_t Bear_Receiver::sendBodyWidth(uint8_t id,float body_Width) +uint8_t Bear_Receiver::sendBodyWidth(uint8_t id,uint8_t *BodyWidth) { - uint8_t IntBodyWidth[2],FloatBodyWidth[2]; - FloatSep(body_Width,IntBodyWidth,FloatBodyWidth); - ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 6; package.instructionErrorId = WRITE_DATA; - package.parameter[0]=IntBodyWidth[0]; - package.parameter[1]=IntBodyWidth[1]; - package.parameter[2]=FloatBodyWidth[0]; - package.parameter[3]=FloatBodyWidth[1]; + package.parameter[0]=BodyWidth[0]; + package.parameter[1]=BodyWidth[1]; + package.parameter[2]=BodyWidth[2]; + package.parameter[3]=BodyWidth[3]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } -uint8_t Bear_Receiver::sendUpAngleRange(uint8_t id,float max_angle,float min_angle) +uint8_t Bear_Receiver::sendUpAngleRange(uint8_t id,uint8_t *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]; + package.parameter[0]=Angle[0]; + package.parameter[1]=Angle[1]; + package.parameter[2]=Angle[2]; + package.parameter[3]=Angle[3]; + package.parameter[4]=Angle[4]; + package.parameter[5]=Angle[5]; + package.parameter[6]=Angle[6]; + package.parameter[7]=Angle[7]; rs485_dirc=1; wait_us(RS485_DELAY); @@ -357,26 +319,21 @@ } -uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,float max_angle,float min_angle) +uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,uint8_t *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]; + package.parameter[0]=Angle[0]; + package.parameter[1]=Angle[1]; + package.parameter[2]=Angle[2]; + package.parameter[3]=Angle[3]; + package.parameter[4]=Angle[4]; + package.parameter[5]=Angle[5]; + package.parameter[6]=Angle[6]; + package.parameter[7]=Angle[7]; rs485_dirc=1; wait_us(RS485_DELAY);