Betago
v2
Dependencies: BEAR_Protocol_Edited BufferedSerial Debug MaxSonar PID Process QEI UI iSerial mbed
Revision 7:ffd6959444ae, committed 2016-06-07
- Comitter:
- palmdotax
- Date:
- Tue Jun 07 17:25:18 2016 +0000
- Parent:
- 6:adf1f4351f9f
- Commit message:
- v2
Changed in this revision
| BEAR_Protocol_Edited.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r adf1f4351f9f -r ffd6959444ae BEAR_Protocol_Edited.lib --- a/BEAR_Protocol_Edited.lib Tue Jun 07 03:28:39 2016 +0000 +++ b/BEAR_Protocol_Edited.lib Tue Jun 07 17:25:18 2016 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/palmdotax/code/BEAR_Protocol_Edited/#1b64ff047f68 +https://developer.mbed.org/teams/Betago/code/BEAR_Protocol_Edited/#c851f0ab826c
diff -r adf1f4351f9f -r ffd6959444ae main.cpp
--- a/main.cpp Tue Jun 07 03:28:39 2016 +0000
+++ b/main.cpp Tue Jun 07 17:25:18 2016 +0000
@@ -433,154 +433,39 @@
case READ_DATA: { PC.printf("READ_DATA\n");
switch (command[0]) {
case GET_LIDAR: {
- /* int i=0,j=1,k=0;
- uint8_t intData[2]={0x00,0x01},floatData[2];
- ANDANTE_PROTOCOL_PACKET package;
- //BUFFER_SIZE=143
- package.robotId = MY_ID;
- package.length = 4;//122
- package.instructionErrorId = WRITE_DATA;
- PC.printf("GETDATA\n");
- while(k<60)
- { PC.printf("i= %d,j= %d,k = %d\n",i,j,k);
- com.FloatSep( lidar.Data[k],intData,floatData);
- package.parameter[i]=intData[0];
- package.parameter[j]=intData[1];
- i=i+2;
- j=j+2;
- k++;
-
- }
- // PC.printf("SEND\n");
- //rs485_dirc1=1;
- wait_us(RS485_DELAY);
- PC.printf("SEND2\n");
- com1->sendCommunicatePacket(&package);
- PC.printf("SEND3\n");
-
-
-
-
- */
+
com.sendlidar();
- PC.printf("SEND2\n");
+ PC.printf("SEND1\n");
break;
}
case GET_LIDAR2: {
- int i=0,j=1,k=60;
- uint8_t intData[2],floatData[2];
- ANDANTE_PROTOCOL_PACKET package;
- //BUFFER_SIZE=143
- package.robotId = MY_ID;
- package.length = 122;
- package.instructionErrorId = WRITE_DATA;
-
- while(k<120)
- {//PC.printf("i= %d,j= %d,k = %d\n",i,j,k);
- com.FloatSep( lidar.Data[k],intData,floatData);
- package.parameter[i]=intData[0];
- package.parameter[j]=intData[1];
- i=i+2;
- j=j+2;
- k++;
-
- }
- rs485_dirc1=1;
- wait_us(RS485_DELAY);
- com1->sendCommunicatePacket(&package);
-
+
+ com.sendlidar2();
+ PC.printf("SEND2\n");
break;
}
case GET_LIDAR3: {
- int i=0,j=1,k=120;
- uint8_t intData[2],floatData[2];
- ANDANTE_PROTOCOL_PACKET package;
- //BUFFER_SIZE=143
- package.robotId = MY_ID;
- package.length = 122;
- package.instructionErrorId = WRITE_DATA;
- while(k<180)
- {//PC.printf("i= %d,j= %d,k = %d\n",i,j,k);
- com.FloatSep( lidar.Data[k],intData,floatData);
- package.parameter[i]=intData[0];
- package.parameter[j]=intData[1];
- i=i+2;
- j=j+2;
- k++;
- }
- rs485_dirc1=1;
- wait_us(RS485_DELAY);
- com1->sendCommunicatePacket(&package);
+ com.sendlidar3();
+ PC.printf("SEND3\n");
break;
}
case GET_LIDAR4: {
- int i=0,j=1,k=180;
- uint8_t intData[2],floatData[2];
- ANDANTE_PROTOCOL_PACKET package;
- //BUFFER_SIZE=143
- package.robotId = MY_ID;
- package.length = 122;
- package.instructionErrorId = WRITE_DATA;
- while(k<240)
- {//PC.printf("i= %d,j= %d,k = %d\n",i,j,k);
- com.FloatSep( lidar.Data[k],intData,floatData);
- package.parameter[i]=intData[0];
- package.parameter[j]=intData[1];
- i=i+2;
- j=j+2;
- k++;
- }
- rs485_dirc1=1;
- wait_us(RS485_DELAY);
- com1->sendCommunicatePacket(&package);
+ com.sendlidar4();
+ PC.printf("SEND4\n");
break;
}
case GET_LIDAR5: {
- int i=0,j=1,k=240;
- uint8_t intData[2],floatData[2];
- ANDANTE_PROTOCOL_PACKET package;
- //BUFFER_SIZE=143
- package.robotId = MY_ID;
- package.length = 122;
- package.instructionErrorId = WRITE_DATA;
- while(k<300)
- {//PC.printf("i= %d,j= %d,k = %d\n",i,j,k);
- com.FloatSep( lidar.Data[k],intData,floatData);
- package.parameter[i]=intData[0];
- package.parameter[j]=intData[1];
- i=i+2;
- j=j+2;
- k++;
- }
-
- rs485_dirc1=1;
- wait_us(RS485_DELAY);
- com1->sendCommunicatePacket(&package);
-
+
+
+ com.sendlidar5();
+ PC.printf("SEND5\n");
break;
}
case GET_LIDAR6: {
- int i=0,j=1,k=300;
- uint8_t intData[2],floatData[2];
- ANDANTE_PROTOCOL_PACKET package;
- //BUFFER_SIZE=143
- package.robotId = MY_ID;
- package.length = 122;
- package.instructionErrorId = WRITE_DATA;
- while(k<360)
- {//PC.printf("i= %d,j= %d,k = %d\n",i,j,k);
- com.FloatSep( lidar.Data[k],intData,floatData);
- package.parameter[i]=intData[0];
- package.parameter[j]=intData[1];
- i=i+2;
- j=j+2;
- k++;
- }
- rs485_dirc1=1;
- wait_us(RS485_DELAY);
- com1->sendCommunicatePacket(&package);
+ com.sendlidar6();
+ PC.printf("SEND6\n");
break;
}