Betago / BEAR_Protocol_Edited

v1.1

Dependencies:   Communication_Robot

Fork of BEAR_Protocol_Edited by phirawat rattanachote

Command.h@14:24d951efed53, 2016-03-21 (annotated)

Committer:
palmdotax
Date:
Mon Mar 21 20:20:57 2016 +0000
Revision:
14:24d951efed53
Parent:
11:b34eababcf56
Child:
16:168de1acec53
22 3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
b0ssiz 0:fc963e08d580 1 //Instruction Set
b0ssiz 0:fc963e08d580 2 #define PING 0x01
b0ssiz 0:fc963e08d580 3 #define READ_DATA 0x02
b0ssiz 0:fc963e08d580 4 #define WRITE_DATA 0x03
b0ssiz 0:fc963e08d580 5
b0ssiz 0:fc963e08d580 6 //CONTROL TABLE
palmdotax 14:24d951efed53 7 #define ID 0x00
palmdotax 14:24d951efed53 8 //Constructor
palmdotax 14:24d951efed53 9 #define SET_VELOCITY_LEFT 0x01
palmdotax 14:24d951efed53 10 #define SET_VELOCITY_RIGHT 0x02
palmdotax 14:24d951efed53 11 #define SET_VELOCITY_MAX_LEFT 0x03
palmdotax 14:24d951efed53 12 #define SET_VELOCITY_MAX_RIGHT 0x04
palmdotax 14:24d951efed53 13 #define SET_KP_LEFT 0x05
palmdotax 14:24d951efed53 14 #define SET_KI_LEFT 0x06
palmdotax 14:24d951efed53 15 #define SET_KD_LEFT 0x07
palmdotax 14:24d951efed53 16 #define SET_KP_RIGHT 0x08
palmdotax 14:24d951efed53 17 #define SET_KI_RIGHT 0x09
palmdotax 14:24d951efed53 18 #define SET_KD_RIGHT 0x0A
palmdotax 14:24d951efed53 19 #define GET_LIDAR 0x0B
palmdotax 14:24d951efed53 20 #define GET_BATTERY 0x0C
palmdotax 14:24d951efed53 21 #define GET_VELOCITY_LEFT 0x0D
palmdotax 14:24d951efed53 22 #define GET_VELOCITY_RIGHT 0x0E
palmdotax 14:24d951efed53 23 #define GET_KP_LEFT 0x0F
palmdotax 14:24d951efed53 24 #define GET_KI_LEFT 0x10
palmdotax 14:24d951efed53 25 #define GET_KD_LEFT 0x11
palmdotax 14:24d951efed53 26 #define GET_KP_RIGHT 0x12
palmdotax 14:24d951efed53 27 #define GET_KI_RIGHT 0x13
palmdotax 14:24d951efed53 28 #define GET_KD_RIGHT 0x14
palmdotax 14:24d951efed53 29
palmdotax 14:24d951efed53 30
palmdotax 14:24d951efed53 31 #define RS485_DELAY 90
palmdotax 14:24d951efed53 32 #define RS485_DIRC PA_14