BE@R lab / BEAR_Reciever

Communication for reciever

Dependencies:   Fork_Boss_Communication_Robot

Dependents:   BEAR_Motion BEAR_Motion_Editing4Betago

Fork of BEAR_Protocol by BE@R lab

Files at this revision

API Documentation at this revision

Revision 22:894bca54ae1a, committed 2016-02-03

Comitter:
soulx
Date:
Wed Feb 03 14:39:08 2016 +0000
Parent:
21:2a7476156519
Commit message:
????????

Changed in this revision

Receiver.cpp Show annotated file Show diff for this revision Revisions of this file
Receiver.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Receiver.cpp	Tue Feb 02 01:30:13 2016 +0000
+++ b/Receiver.cpp	Wed Feb 03 14:39:08 2016 +0000
@@ -154,17 +154,19 @@
 
 
 
-uint8_t Bear_Receiver::sendUpMargin(uint8_t id,uint8_t *Margin)
+uint8_t Bear_Receiver::sendUpMargin(uint8_t id,float Margin)
 {
+    uint8_t Int[2],Float[2];
+    FloatSep(Margin,Int,Float);
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 6;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=Margin[0];
-    package.parameter[1]=Margin[1];
-    package.parameter[2]=Margin[2];
-    package.parameter[3]=Margin[3];
+    package.parameter[0]=Int[0];
+    package.parameter[1]=Int[1];
+    package.parameter[2]=Float[0];
+    package.parameter[3]=Float[1];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
@@ -172,22 +174,23 @@
 
 }
 
-uint8_t Bear_Receiver::sendLowMargin(uint8_t id,uint8_t *Margin)
+uint8_t Bear_Receiver::sendLowMargin(uint8_t id,float Margin)
 {
+    uint8_t Int[2],Float[2];
+    FloatSep(Margin,Int,Float);
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 6;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=Margin[0];
-    package.parameter[1]=Margin[1];
-    package.parameter[2]=Margin[2];
-    package.parameter[3]=Margin[3];
+    package.parameter[0]=Int[0];
+    package.parameter[1]=Int[1];
+    package.parameter[2]=Float[0];
+    package.parameter[3]=Float[1];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
     return com->sendCommunicatePacket(&package);
-
 }
 
 uint8_t Bear_Receiver::sendHeight(uint8_t id,uint8_t *Height)

--- a/Receiver.h	Tue Feb 02 01:30:13 2016 +0000
+++ b/Receiver.h	Wed Feb 03 14:39:08 2016 +0000
@@ -24,8 +24,8 @@
     uint8_t sendMotorPos(uint8_t,float,float);
     uint8_t sendUpMotorKpKiKd(uint8_t,float,float,float);
     uint8_t sendLowMotorKpKiKd(uint8_t,float,float,float);
-    uint8_t sendUpMargin(uint8_t,uint8_t*);
-    uint8_t sendLowMargin(uint8_t,uint8_t*);
+    uint8_t sendUpMargin(uint8_t,float);
+    uint8_t sendLowMargin(uint8_t,float);
     uint8_t sendHeight(uint8_t,uint8_t*);
     uint8_t sendWheelPos(uint8_t,uint8_t*);
     uint8_t sendMagData(uint8_t,uint8_t*);