Betago
v1.1
Dependencies: Communication_Robot
Fork of
BEAR_Protocol_Edited
by 
phirawat rattanachote
Command.h@20:c851f0ab826c, 2016-06-07 (annotated)
- Committer:
- palmdotax
- Date:
- Tue Jun 07 17:24:32 2016 +0000
- Revision:
- 20:c851f0ab826c
- Parent:
- 16:168de1acec53
v2;
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 |
| 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 | 16:168de1acec53 | 19 | #define SET_ANGLE_MAX 0x17 |
| palmdotax | 16:168de1acec53 | 20 | #define SET_ANGLE_MIN 0x18 |
| palmdotax | 16:168de1acec53 | 21 | #define GET_LIDAR 0x1B |
| palmdotax | 16:168de1acec53 | 22 | #define GET_LIDAR2 0x2B |
| palmdotax | 16:168de1acec53 | 23 | #define GET_LIDAR3 0x3B |
| palmdotax | 16:168de1acec53 | 24 | #define GET_LIDAR4 0x4B |
| palmdotax | 16:168de1acec53 | 25 | #define GET_LIDAR5 0x5B |
| palmdotax | 16:168de1acec53 | 26 | #define GET_LIDAR6 0x6B |
| palmdotax | 14:24d951efed53 | 27 | #define GET_BATTERY 0x0C |
| palmdotax | 14:24d951efed53 | 28 | #define GET_VELOCITY_LEFT 0x0D |
| palmdotax | 14:24d951efed53 | 29 | #define GET_VELOCITY_RIGHT 0x0E |
| palmdotax | 14:24d951efed53 | 30 | #define GET_KP_LEFT 0x0F |
| palmdotax | 14:24d951efed53 | 31 | #define GET_KI_LEFT 0x10 |
| palmdotax | 14:24d951efed53 | 32 | #define GET_KD_LEFT 0x11 |
| palmdotax | 14:24d951efed53 | 33 | #define GET_KP_RIGHT 0x12 |
| palmdotax | 14:24d951efed53 | 34 | #define GET_KI_RIGHT 0x13 |
| palmdotax | 14:24d951efed53 | 35 | #define GET_KD_RIGHT 0x14 |
| palmdotax | 14:24d951efed53 | 36 | |
| palmdotax | 14:24d951efed53 | 37 | |
| palmdotax | 16:168de1acec53 | 38 | |
| palmdotax | 14:24d951efed53 | 39 | #define RS485_DELAY 90 |
| palmdotax | 14:24d951efed53 | 40 | #define RS485_DIRC PA_14 |