Communication for reciever
Dependencies: Fork_Boss_Communication_Robot
Dependents: BEAR_Motion BEAR_Motion_Editing4Betago
Fork of BEAR_Protocol by
Diff: Receiver.cpp
- Revision:
- 11:b9337e23782e
- Parent:
- 8:2d34916ac178
- Child:
- 12:be8675c18a58
diff -r c9bc32595d56 -r b9337e23782e Receiver.cpp --- a/Receiver.cpp Thu Jan 21 16:42:25 2016 +0000 +++ b/Receiver.cpp Thu Jan 21 16:51:02 2016 +0000 @@ -309,7 +309,34 @@ return com->sendCommunicatePacket(&package); } -uint8_t Bear_Receiver::sendAngleRange(uint8_t id,float max_angle,float min_angle) +uint8_t Bear_Receiver::sendUpAngleRange(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); +} + + +uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,float max_angle,float min_angle) { uint8_t IntMaxAngle[2],FloatMaxAngle[2]; uint8_t IntMinAngle[2],FloatMinAngle[2];