Communication for reciever
Dependencies: Fork_Boss_Communication_Robot
Dependents: BEAR_Motion BEAR_Motion_Editing4Betago
Fork of BEAR_Protocol by
Diff: Receiver.cpp
- Revision:
- 12:be8675c18a58
- Parent:
- 11:b9337e23782e
- Child:
- 13:e7404c675611
diff -r b9337e23782e -r be8675c18a58 Receiver.cpp --- a/Receiver.cpp Thu Jan 21 16:51:02 2016 +0000 +++ b/Receiver.cpp Thu Jan 21 17:28:25 2016 +0000 @@ -152,7 +152,28 @@ -uint8_t Bear_Receiver::sendMargin(uint8_t id,float margin) +uint8_t Bear_Receiver::sendUpMargin(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::sendLowMargin(uint8_t id,float margin) { uint8_t IntMargin[2],FloatMargin[2]; FloatSep(margin,IntMargin,FloatMargin);