v1
Fork of Communication_Robot by
Receiver.cpp
- Committer:
- palmdotax
- Date:
- 2016-06-07
- Revision:
- 13:bc19774be4df
- Parent:
- 11:3c11a0355a3e
File content as of revision 13:bc19774be4df:
#include "mbed.h" #include "Receiver.h" #include "rplidar.h" RPLidar lidar1; DigitalOut rs485_dirc(RS485_DIRC); Bear_Receiver::Bear_Receiver(PinName tx,PinName rx,int baudrate) { com = new COMMUNICATION(tx,rx,baudrate); } uint8_t Bear_Receiver::ReceiveCommand(uint8_t *id,uint8_t *data_array,uint8_t *ins) { ANDANTE_PROTOCOL_PACKET package; rs485_dirc=0; wait_us(RS485_DELAY); uint8_t status = com->receiveCommunicatePacket(&package); if(status == ANDANTE_ERRBIT_NONE) { *id = package.robotId; for(int i=0; i<30; i++) { data_array[i] = package.parameter[i]; } *ins=package.instructionErrorId; } return status; } void Bear_Receiver::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array) { float float_buffer; float int_buffer; int16_t integer; int16_t floating_point; float_buffer=modf(input_float,&int_buffer); float_buffer*=FLOAT_CONVERTER; integer=(int16_t)int_buffer; floating_point=(int16_t)float_buffer; Utilities::ConvertInt16ToUInt8Array(integer,int_data_array); Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array); } uint8_t Bear_Receiver::sendMotorPos(uint8_t id,float up_angle,float low_angle) { uint8_t IntUpAngle[2],FloatUpAngle[2]; uint8_t IntLowAngle[2],FloatLowAngle[2]; FloatSep(up_angle,IntUpAngle,FloatUpAngle); FloatSep(low_angle,IntLowAngle,FloatLowAngle); ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 10; package.instructionErrorId = WRITE_DATA; package.parameter[0]=IntUpAngle[0]; package.parameter[1]=IntUpAngle[1]; package.parameter[2]=FloatUpAngle[0]; package.parameter[3]=FloatUpAngle[1]; package.parameter[4]=IntLowAngle[0]; package.parameter[5]=IntLowAngle[1]; package.parameter[6]=FloatLowAngle[0]; package.parameter[7]=FloatLowAngle[1]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendUpMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd) { uint8_t IntKp[2],FloatKp[2]; uint8_t IntKi[2],FloatKi[2]; uint8_t IntKd[2],FloatKd[2]; FloatSep(Kp,IntKp,FloatKp); FloatSep(Ki,IntKi,FloatKi); FloatSep(Kd,IntKd,FloatKd); ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 14; package.instructionErrorId = WRITE_DATA; package.parameter[0]=IntKp[0]; package.parameter[1]=IntKp[1]; package.parameter[2]=FloatKp[0]; package.parameter[3]=FloatKp[1]; package.parameter[4]=IntKi[0]; package.parameter[5]=IntKi[1]; package.parameter[6]=FloatKi[0]; package.parameter[7]=FloatKi[1]; package.parameter[8]=IntKd[0]; package.parameter[9]=IntKd[1]; package.parameter[10]=FloatKd[0]; package.parameter[11]=FloatKd[1]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendLowMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd) { uint8_t IntKp[2],FloatKp[2]; uint8_t IntKi[2],FloatKi[2]; uint8_t IntKd[2],FloatKd[2]; FloatSep(Kp,IntKp,FloatKp); FloatSep(Ki,IntKi,FloatKi); FloatSep(Kd,IntKd,FloatKd); ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 14; package.instructionErrorId = WRITE_DATA; package.parameter[0]=IntKp[0]; package.parameter[1]=IntKp[1]; package.parameter[2]=FloatKp[0]; package.parameter[3]=FloatKp[1]; package.parameter[4]=IntKi[0]; package.parameter[5]=IntKi[1]; package.parameter[6]=FloatKi[0]; package.parameter[7]=FloatKi[1]; package.parameter[8]=IntKd[0]; package.parameter[9]=IntKd[1]; package.parameter[10]=FloatKd[0]; package.parameter[11]=FloatKd[1]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendUpMargin(uint8_t id,float Margin) { uint8_t Int[2],Float[2]; FloatSep(Margin,Int,Float); ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 6; package.instructionErrorId = WRITE_DATA; package.parameter[0]=Int[0]; package.parameter[1]=Int[1]; package.parameter[2]=Float[0]; package.parameter[3]=Float[1]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendLowMargin(uint8_t id,float Margin) { uint8_t Int[2],Float[2]; FloatSep(Margin,Int,Float); ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 6; package.instructionErrorId = WRITE_DATA; package.parameter[0]=Int[0]; package.parameter[1]=Int[1]; package.parameter[2]=Float[0]; package.parameter[3]=Float[1]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendHeight(uint8_t id,uint8_t *Height) { ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 6; package.instructionErrorId = WRITE_DATA; package.parameter[0]=Height[0]; package.parameter[1]=Height[1]; package.parameter[2]=Height[2]; package.parameter[3]=Height[3]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendWheelPos(uint8_t id,uint8_t *WheelPos) { ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 6; package.instructionErrorId = WRITE_DATA; package.parameter[0]=WheelPos[0]; package.parameter[1]=WheelPos[1]; package.parameter[2]=WheelPos[2]; package.parameter[3]=WheelPos[3]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendMagData(uint8_t id,uint8_t *Mag) { ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 26; package.instructionErrorId = WRITE_DATA; package.parameter[0]=Mag[0]; package.parameter[1]=Mag[1]; package.parameter[2]=Mag[2]; package.parameter[3]=Mag[3]; package.parameter[4]=Mag[4]; package.parameter[5]=Mag[5]; package.parameter[6]=Mag[6]; package.parameter[7]=Mag[7]; package.parameter[8]=Mag[8]; package.parameter[9]=Mag[9]; package.parameter[10]=Mag[10]; package.parameter[11]=Mag[11]; package.parameter[12]=Mag[12]; package.parameter[13]=Mag[13]; package.parameter[14]=Mag[14]; package.parameter[15]=Mag[15]; package.parameter[16]=Mag[16]; package.parameter[17]=Mag[17]; package.parameter[18]=Mag[18]; package.parameter[19]=Mag[19]; package.parameter[20]=Mag[20]; package.parameter[21]=Mag[21]; package.parameter[22]=Mag[22]; package.parameter[23]=Mag[23]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendOffset(uint8_t id,uint8_t *Offset) { ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 10; package.instructionErrorId = WRITE_DATA; package.parameter[0]=Offset[0]; package.parameter[1]=Offset[1]; package.parameter[2]=Offset[2]; package.parameter[3]=Offset[3]; package.parameter[4]=Offset[4]; package.parameter[5]=Offset[5]; package.parameter[6]=Offset[6]; package.parameter[7]=Offset[7]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendBodyWidth(uint8_t id,uint8_t *BodyWidth) { ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 6; package.instructionErrorId = WRITE_DATA; package.parameter[0]=BodyWidth[0]; package.parameter[1]=BodyWidth[1]; package.parameter[2]=BodyWidth[2]; package.parameter[3]=BodyWidth[3]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendUpAngleRange(uint8_t id,uint8_t *Angle) { ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 10; package.instructionErrorId = WRITE_DATA; package.parameter[0]=Angle[0]; package.parameter[1]=Angle[1]; package.parameter[2]=Angle[2]; package.parameter[3]=Angle[3]; package.parameter[4]=Angle[4]; package.parameter[5]=Angle[5]; package.parameter[6]=Angle[6]; package.parameter[7]=Angle[7]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,uint8_t *Angle) { ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 10; package.instructionErrorId = WRITE_DATA; package.parameter[0]=Angle[0]; package.parameter[1]=Angle[1]; package.parameter[2]=Angle[2]; package.parameter[3]=Angle[3]; package.parameter[4]=Angle[4]; package.parameter[5]=Angle[5]; package.parameter[6]=Angle[6]; package.parameter[7]=Angle[7]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendUpLinkLength(uint8_t id,uint8_t *Length) { ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 6; package.instructionErrorId = WRITE_DATA; package.parameter[0]=Length[0]; package.parameter[1]=Length[1]; package.parameter[2]=Length[2]; package.parameter[3]=Length[3]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendLowLinkLength(uint8_t id,uint8_t *Length) { ANDANTE_PROTOCOL_PACKET package; package.robotId = id; package.length = 6; package.instructionErrorId = WRITE_DATA; package.parameter[0]=Length[0]; package.parameter[1]=Length[1]; package.parameter[2]=Length[2]; package.parameter[3]=Length[3]; rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); } uint8_t Bear_Receiver::sendlidar() { int i=0,j=1,k=0; uint8_t intData[2]={0x00,0x01},floatData[2]; ANDANTE_PROTOCOL_PACKET package; //BUFFER_SIZE=143 package.robotId = 0x00; package.length = 22;//122 package.instructionErrorId = WRITE_DATA; for(i=0;i<20;i++) { package.parameter[i]=0xAA; } /* while(k<60) { //PC.printf("i= %d,j= %d,k = %d\n",i,j,k); FloatSep( lidar1.Data[k],intData,floatData); package.parameter[i]=intData[0]; package.parameter[j]=intData[1]; i=i+2; j=j+2; k++; }*/ rs485_dirc=1; wait_us(RS485_DELAY); return com->sendCommunicatePacket(&package); }