Revision 13:bc19774be4df, committed 2016-06-07

Comitter:

palmdotax

Date:

Tue Jun 07 03:14:19 2016 +0000

Parent:

12:3a814b754785

Commit message:

55+

Changed in this revision

diff -r 3a814b754785 -r bc19774be4df Receiver.cpp
--- a/Receiver.cpp	Sun Jun 05 09:43:16 2016 +0000
+++ b/Receiver.cpp	Tue Jun 07 03:14:19 2016 +0000
@@ -1,6 +1,7 @@
 #include "mbed.h"
 #include "Receiver.h"
-
+#include "rplidar.h"
+RPLidar lidar1;
 
 DigitalOut rs485_dirc(RS485_DIRC);
 
@@ -380,3 +381,32 @@
     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);
+
+}

diff -r 3a814b754785 -r bc19774be4df Receiver.h
--- a/Receiver.h	Sun Jun 05 09:43:16 2016 +0000
+++ b/Receiver.h	Tue Jun 07 03:14:19 2016 +0000
@@ -35,6 +35,9 @@
     uint8_t sendLowAngleRange(uint8_t,uint8_t*);
     uint8_t sendUpLinkLength(uint8_t,uint8_t*);
     uint8_t sendLowLinkLength(uint8_t,uint8_t*);
+    
+    
+     uint8_t sendlidar();
 };
 
 #endif

diff -r 3a814b754785 -r bc19774be4df communication.cpp
--- a/communication.cpp	Sun Jun 05 09:43:16 2016 +0000
+++ b/communication.cpp	Tue Jun 07 03:14:19 2016 +0000
@@ -8,6 +8,7 @@
 
 uint8_t COMMUNICATION::sendCommunicatePacket(ANDANTE_PROTOCOL_PACKET *packet)
 {
+    
     uint8_t currentParameter = 0;
     bool isWholePacket = false;
     uint8_t encoderState = WAIT_ON_HEADER_0;
@@ -16,8 +17,14 @@
 
     Timer timer;
     timer.start();
+#ifdef ANDANTE_DEBUG
+                    pc->printf("Write: %d ", ANDANTE_PROTOCOL_COMMAND_RESPONSE_TIMEOUT_MS);
+#endif
 
     while((timer.read_ms() < ANDANTE_PROTOCOL_COMMAND_RESPONSE_TIMEOUT_MS) && (!isWholePacket)) {
+
+                    pc->printf("Write: %d ", ANDANTE_PROTOCOL_COMMAND_RESPONSE_TIMEOUT_MS);
+
         
         if( serialCom->writeable()) {