File content as of revision 20:c851f0ab826c:

//Instruction Set
#define PING         0x01
#define READ_DATA    0x02
#define WRITE_DATA   0x03

//CONTROL TABLE
#define ID                     0x00
//Constructor
#define SET_VELOCITY_LEFT      0x01
#define SET_VELOCITY_RIGHT     0x02
#define SET_VELOCITY_MAX_LEFT  0x03
#define SET_VELOCITY_MAX_RIGHT 0x04
#define SET_KP_LEFT            0x05
#define SET_KI_LEFT            0x06
#define SET_KD_LEFT            0x07
#define SET_KP_RIGHT           0x08
#define SET_KI_RIGHT           0x09
#define SET_KD_RIGHT           0x0A
#define SET_ANGLE_MAX          0x17
#define SET_ANGLE_MIN          0x18
#define GET_LIDAR              0x1B
#define GET_LIDAR2             0x2B
#define GET_LIDAR3             0x3B
#define GET_LIDAR4             0x4B
#define GET_LIDAR5             0x5B
#define GET_LIDAR6             0x6B
#define GET_BATTERY            0x0C
#define GET_VELOCITY_LEFT      0x0D
#define GET_VELOCITY_RIGHT     0x0E
#define GET_KP_LEFT            0x0F
#define GET_KI_LEFT            0x10
#define GET_KD_LEFT            0x11
#define GET_KP_RIGHT           0x12
#define GET_KI_RIGHT           0x13
#define GET_KD_RIGHT           0x14



#define RS485_DELAY 90
#define RS485_DIRC PA_14