Betago
v1.1
Dependencies: Communication_Robot
Fork of
BEAR_Protocol_Edited
by 
phirawat rattanachote
Command.h@5:6f30b4ea4020, 2016-01-15 (annotated)
- Committer:
- b0ssiz
- Date:
- Fri Jan 15 17:02:08 2016 +0000
- Revision:
- 5:6f30b4ea4020
- Parent:
- 0:fc963e08d580
- Child:
- 7:ce4234c56410
Add function set Kp,Ki and Kd for upper and lower joint
Who changed what in which revision?
| User | Revision | Line number | New 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 |
| b0ssiz | 0:fc963e08d580 | 7 | #define SET_ID 0x00 |
| b0ssiz | 0:fc963e08d580 | 8 | #define SET_MOTOR_UPPER_ANG 0x01 |
| b0ssiz | 0:fc963e08d580 | 9 | #define SET_MOTOR_LOWER_ANG 0x02 |
| b0ssiz | 0:fc963e08d580 | 10 | #define SET_MARGIN 0x03 |
| b0ssiz | 5:6f30b4ea4020 | 11 | #define SET_KP_UPPER_MOTOR 0x04 |
| b0ssiz | 5:6f30b4ea4020 | 12 | #define SET_KI_UPPER_MOTOR 0x05 |
| b0ssiz | 5:6f30b4ea4020 | 13 | #define SET_KD_UPPER_MOTOR 0x06 |
| b0ssiz | 5:6f30b4ea4020 | 14 | #define SET_KP_LOWER_MOTOR 0x07 |
| b0ssiz | 5:6f30b4ea4020 | 15 | #define SET_KI_LOWER_MOTOR 0x08 |
| b0ssiz | 5:6f30b4ea4020 | 16 | #define SET_KD_LOWER_MOTOR 0x09 |
| b0ssiz | 5:6f30b4ea4020 | 17 | #define SET_HEIGHT 0x0A |
| b0ssiz | 5:6f30b4ea4020 | 18 | #define SET_WHEELPOS 0x0B |
| b0ssiz | 5:6f30b4ea4020 | 19 | #define SET_MAG_X_MAX 0x0C |
| b0ssiz | 5:6f30b4ea4020 | 20 | #define SET_MAG_Y_MAX 0x0D |
| b0ssiz | 5:6f30b4ea4020 | 21 | #define SET_MAG_Z_MAX 0x0E |
| b0ssiz | 5:6f30b4ea4020 | 22 | #define SET_MAG_X_MIN 0x0F |
| b0ssiz | 5:6f30b4ea4020 | 23 | #define SET_MAG_Y_MIN 0x10 |
| b0ssiz | 5:6f30b4ea4020 | 24 | #define SET_MAG_Z_MIN 0x11 |
| b0ssiz | 5:6f30b4ea4020 | 25 | #define SET_OFFSET_Y 0x12 |
| b0ssiz | 5:6f30b4ea4020 | 26 | #define SET_OFFSET_Z 0x13 |
| b0ssiz | 5:6f30b4ea4020 | 27 | #define SET_BODY_LENGTH 0x14 |
| b0ssiz | 5:6f30b4ea4020 | 28 | #define SET_MAX_ANGLE 0x15 |
| b0ssiz | 5:6f30b4ea4020 | 29 | #define SET_MIN_ANGLE 0x16 |
| b0ssiz | 0:fc963e08d580 | 30 | |
| b0ssiz | 0:fc963e08d580 | 31 | |
| b0ssiz | 0:fc963e08d580 | 32 | #define GET_MOTOR_UPPER_ANG 0x32 |
| b0ssiz | 0:fc963e08d580 | 33 | #define GET_MOTOR_LOWER_ANG 0x33 |
| b0ssiz | 0:fc963e08d580 | 34 | #define GET_MARGIN 0x34 |
| b0ssiz | 5:6f30b4ea4020 | 35 | #define GET_KP_UPPER_MOTOR 0x35 |
| b0ssiz | 5:6f30b4ea4020 | 36 | #define GET_KI_UPPER_MOTOR 0x36 |
| b0ssiz | 5:6f30b4ea4020 | 37 | #define GET_KD_UPPER_MOTOR 0x37 |
| b0ssiz | 5:6f30b4ea4020 | 38 | #define GET_KP_LOWER_MOTOR 0x38 |
| b0ssiz | 5:6f30b4ea4020 | 39 | #define GET_KI_LOWER_MOTOR 0x39 |
| b0ssiz | 5:6f30b4ea4020 | 40 | #define GET_KD_LOWER_MOTOR 0x3A |
| b0ssiz | 5:6f30b4ea4020 | 41 | #define GET_HEIGHT 0x3B |
| b0ssiz | 5:6f30b4ea4020 | 42 | #define GET_WHEELPOS 0x3C |
| b0ssiz | 5:6f30b4ea4020 | 43 | #define GET_MAG_X_MAX 0x3D |
| b0ssiz | 5:6f30b4ea4020 | 44 | #define GET_MAG_Y_MAX 0x3E |
| b0ssiz | 5:6f30b4ea4020 | 45 | #define GET_MAG_Z_MAX 0x3F |
| b0ssiz | 5:6f30b4ea4020 | 46 | #define GET_MAG_X_MIN 0x40 |
| b0ssiz | 5:6f30b4ea4020 | 47 | #define GET_MAG_Y_MIN 0x41 |
| b0ssiz | 5:6f30b4ea4020 | 48 | #define GET_MAG_Z_MIN 0x42 |
| b0ssiz | 5:6f30b4ea4020 | 49 | #define GET_OFFSET_Y 0x43 |
| b0ssiz | 5:6f30b4ea4020 | 50 | #define GET_OFFSET_Z 0x44 |
| b0ssiz | 0:fc963e08d580 | 51 | #define GET_BODY_LENGTH 0x42 |
| b0ssiz | 0:fc963e08d580 | 52 | #define GET_MAX_ANGLE 0x43 |
| b0ssiz | 0:fc963e08d580 | 53 | #define GET_MIN_ANGLE 0x44 |