Betago
/
Communication_Robot
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Communication_Robot
by 
palm and chin
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
--- 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);
+
+}
--- 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
--- 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()) {