similar robotis communication v1.0 in this lib use for protocol to control and diagnotic robot
Fork of Communication_Robot by
protocol.h@3:2f334f0cee75, 2015-03-02 (annotated)
- Committer:
- soulx
- Date:
- Mon Mar 02 05:52:56 2015 +0000
- Revision:
- 3:2f334f0cee75
- Parent:
- 2:56c1de1612dd
add paramter addres of instruction control
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
soulx | 0:0c88691e3904 | 1 | #ifndef ANDANTE_PROTOCOL_H |
soulx | 0:0c88691e3904 | 2 | #define ANDANTE_PROTOCOL_H |
soulx | 0:0c88691e3904 | 3 | |
soulx | 0:0c88691e3904 | 4 | #include "mbed.h" |
soulx | 0:0c88691e3904 | 5 | |
soulx | 0:0c88691e3904 | 6 | #define ANDANTE_BUFFER_SIZE 0x8F |
soulx | 0:0c88691e3904 | 7 | |
soulx | 0:0c88691e3904 | 8 | #define ANDANTE_PROTOCOL_COMMAND_RESPONSE_TIMEOUT_MS 20 |
soulx | 0:0c88691e3904 | 9 | |
soulx | 2:56c1de1612dd | 10 | #define ANDANTE_PROTOCOL_HEADER_0 0xFF |
soulx | 2:56c1de1612dd | 11 | #define ANDANTE_PROTOCOL_HEADER_1 0xFF |
soulx | 0:0c88691e3904 | 12 | |
soulx | 0:0c88691e3904 | 13 | // Errors |
soulx | 0:0c88691e3904 | 14 | #define ANDANTE_ERRBIT_NONE 0x00 |
soulx | 0:0c88691e3904 | 15 | #define ANDANTE_ERRBIT_VOLTAGE 0x01 |
soulx | 0:0c88691e3904 | 16 | #define ANDANTE_ERRBIT_ANGLE 0x02 |
soulx | 0:0c88691e3904 | 17 | #define ANDANTE_ERRBIT_OVERHEAT 0x04 |
soulx | 0:0c88691e3904 | 18 | #define ANDANTE_ERRBIT_RANGE 0x08 |
soulx | 0:0c88691e3904 | 19 | #define ANDANTE_ERRBIT_CHECKSUM 0x10 |
soulx | 0:0c88691e3904 | 20 | #define ANDANTE_ERRBIT_OVERLOAD 0x20 |
soulx | 0:0c88691e3904 | 21 | #define ANDANTE_ERRBIT_INSTRUCTION 0x40 |
soulx | 0:0c88691e3904 | 22 | |
soulx | 0:0c88691e3904 | 23 | // Extra errors |
soulx | 0:0c88691e3904 | 24 | #define ANDANTE_ERRBIT_WRITE_TIMEOUT 0xFD |
soulx | 0:0c88691e3904 | 25 | #define ANDANTE_ERRBIT_READ_TIMEOUT 0xFE |
soulx | 0:0c88691e3904 | 26 | #define ANDANTE_ERRBIT_MASTER_CHECKSUM 0xFF |
soulx | 0:0c88691e3904 | 27 | |
soulx | 0:0c88691e3904 | 28 | |
soulx | 3:2f334f0cee75 | 29 | //Instruction Control |
soulx | 3:2f334f0cee75 | 30 | #define ANDANTE_SPEED_CONTROL 0x01 |
soulx | 3:2f334f0cee75 | 31 | #define ANDANTE_FRONT_ANGLE 0x02 |
soulx | 3:2f334f0cee75 | 32 | #define ANDANTE_REAR_ANGLE 0x04 |
soulx | 3:2f334f0cee75 | 33 | |
soulx | 3:2f334f0cee75 | 34 | //Instruction Sensor |
soulx | 3:2f334f0cee75 | 35 | |
soulx | 3:2f334f0cee75 | 36 | |
soulx | 0:0c88691e3904 | 37 | struct ANDANTE_PROTOCOL_PACKET |
soulx | 0:0c88691e3904 | 38 | { |
soulx | 0:0c88691e3904 | 39 | uint8_t robotId; |
soulx | 0:0c88691e3904 | 40 | uint8_t length; |
soulx | 0:0c88691e3904 | 41 | uint8_t instructionErrorId; |
soulx | 0:0c88691e3904 | 42 | uint8_t parameter[ANDANTE_BUFFER_SIZE]; |
soulx | 0:0c88691e3904 | 43 | uint8_t checkSum; |
soulx | 0:0c88691e3904 | 44 | }; |
soulx | 0:0c88691e3904 | 45 | |
soulx | 0:0c88691e3904 | 46 | enum ANDANTE_PROTOCOL_ENCODER_DECODER_STATE |
soulx | 0:0c88691e3904 | 47 | { |
soulx | 0:0c88691e3904 | 48 | WAIT_ON_HEADER_0, |
soulx | 0:0c88691e3904 | 49 | WAIT_ON_HEADER_1, |
soulx | 0:0c88691e3904 | 50 | WAIT_ON_ROBOT_ID, |
soulx | 0:0c88691e3904 | 51 | WAIT_ON_LENGTH, |
soulx | 0:0c88691e3904 | 52 | WAIT_ON_INSTRUCTION_ERROR_ID, |
soulx | 0:0c88691e3904 | 53 | WAIT_ON_PARAMETER, |
soulx | 0:0c88691e3904 | 54 | WAIT_ON_CHECK_SUM |
soulx | 0:0c88691e3904 | 55 | }; |
soulx | 0:0c88691e3904 | 56 | |
soulx | 0:0c88691e3904 | 57 | #endif // ANDANTE_PROTOCOL_H |