Betago
v2
Dependencies: BEAR_Protocol_Edited BufferedSerial Debug MaxSonar PID Process QEI UI iSerial mbed
Embed:
(wiki syntax)
Show/hide line numbers
main.cpp
00001 //*****************************************************/ 00002 // Include // 00003 #include "mbed.h" 00004 #include "pinconfig.h" 00005 #include "PID.h" 00006 //#include "Motor.h" 00007 #include "eeprom.h" 00008 #include "Receiver.h" 00009 #include "Motion_EEPROM_Address.h" 00010 #include "move.h" 00011 #include "UNTRASONIC.h" 00012 #include "BufferedSerial.h" 00013 #include "rplidar.h" 00014 RPLidar lidar; 00015 //#include "pidcontrol.h" 00016 BufferedSerial se_lidar(PA_11,PA_12); 00017 #define EEPROM_DELAY 2 00018 DigitalOut rs485_dirc1(RS485_DIRC); 00019 //#define DEBUG_UP 00020 //#define DEBUG_LOW 00021 PwmOut VMO(PC_8); 00022 InterruptIn encoderA_d(PB_12); 00023 DigitalIn encoderB_d(PB_13); 00024 InterruptIn encoderA_1(PB_1); 00025 DigitalIn encoderB_1(PB_2); 00026 InterruptIn encoderA_2(PB_14); 00027 DigitalIn encoderB_2(PB_15); 00028 Timer timerStart; 00029 Timer tim; 00030 Timeout time_getsensor; 00031 Timeout time_distance; 00032 Timeout shutdown; 00033 move m1; 00034 //*****************************************************/ 00035 00036 // Global // 00037 //timer 00038 int timer_now=0,timer_later=0; 00039 int times=0,timer_buffer=0; 00040 00041 //encoder 00042 int Encoderpos = 0; 00043 int real_d=0; 00044 float valocity1 =0,valocity2 =0,pulse_1=0,pulse_2=0,count=0,r=0.125,velocityreal=0,pulse_d=0,Z_d=0; 00045 //pid 00046 00047 double setp1=0,setp2=0; 00048 float outPID =0; 00049 float VRmax=0,VLmax=0,VR=0,VL=0,KP_LEFT=0,KI_LEFT=0,KD_LEFT=0,KP_RIGHT=0,KI_RIGHT=0 ,KD_RIGHT=0 ; 00050 PID P1(KP_LEFT,KI_LEFT,KD_LEFT,0.1); 00051 PID P2(KP_RIGHT,KI_RIGHT ,KD_RIGHT,0.1); 00052 //Ticker Recieve; 00053 //-- Communication -- 00054 COMMUNICATION *com1; 00055 00056 //BufferedSerial PC(SERIAL_TX,SERIAL_RX); 00057 Serial PC(SERIAL_TX,SERIAL_RX); 00058 Bear_Receiver com(PA_9,PA_10,115200); 00059 int16_t MY_ID = 0x00; 00060 //-- Memorry -- 00061 EEPROM memory(PB_4,PA_8,0); 00062 float KP_LEFT_BUFF=0,KI_LEFT_BUFF=0,KD_LEFT_BUFF=0,KP_RIGHT_BUFF=0,KI_RIGHT_BUFF =0,KD_RIGHT_BUFF=0; 00063 00064 void CmdCheck(int16_t id,uint8_t *command,uint8_t ins); 00065 void RC(); 00066 00067 //rplidar 00068 //float distances = 0; 00069 //float angle = 0; 00070 //ool startBit = 0; 00071 //char quality =0 ; 00072 00073 00074 void CmdCheck(int16_t id,uint8_t *command,uint8_t ins); 00075 00076 00077 DigitalOut myled(LED1); 00078 00079 00080 void Rx_interrupt() 00081 { 00082 //s1.get_motor();รับค่ามอเตอร์ 00083 RC(); 00084 timer_later= timer_now; 00085 00086 } 00087 void EncoderA_1()//ซ้าย 00088 { if(encoderB_1==0) 00089 { Encoderpos = Encoderpos + 1;} 00090 else 00091 { Encoderpos = Encoderpos -1;} 00092 pulse_1+=1; 00093 //Encoderpos = Encoderpos + 1; 00094 //valocity+=1; 00095 //pc.printf("%d \n",Encoderpos); 00096 //pc.printf("pulse=%f \n",pulse); 00097 //if(pulse==128) 00098 //{count+=1;pulse=0; pc.printf("count=%f \n",count);} 00099 } 00100 void EncoderA_2()//ขวา 00101 { 00102 if(encoderB_2==0) 00103 { Encoderpos = Encoderpos + 1;} 00104 else 00105 { Encoderpos = Encoderpos -1;} 00106 pulse_2+=1; 00107 //pc.printf("%d",Encoderpos); 00108 } 00109 void EncoderA_D() 00110 { 00111 if(encoderB_d==0) 00112 { Encoderpos = Encoderpos + 1;} 00113 else 00114 { Encoderpos = Encoderpos -1;} 00115 pulse_d+=1; 00116 if(pulse_d==128) 00117 { 00118 Z_d+=1; 00119 pulse_d=0; 00120 } 00121 00122 } 00123 void getvelo1()//จาก encoder 00124 { 00125 valocity1=pulse_1*((2*3.14*r)/128); 00126 PC.printf("valocity=%f \n",valocity1); 00127 count=0; 00128 timerStart.reset(); 00129 } 00130 void getvelo2() 00131 { 00132 valocity2=pulse_2*((2*3.14*r)/128); 00133 PC.printf("valocity=%f \n",valocity2); 00134 count=0; 00135 timerStart.reset(); 00136 } 00137 void get_d()//ระยะทาง 00138 { 00139 real_d=Z_d*(2*3.14*r); 00140 //ส่งข้อมูล 00141 00142 } 00143 void get_rplidar() 00144 { 00145 if (IS_OK(lidar.waitPoint())) 00146 { 00147 00148 } 00149 else 00150 { 00151 00152 lidar.startScan(); 00153 00154 } 00155 00156 } 00157 double map(double x, double in_min, double in_max, double out_min, double out_max) 00158 { 00159 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; 00160 00161 } 00162 void PID_m1()//left 00163 { 00164 setp1=map(1.0,0.0,1.094,0.0,1.0); 00165 P1.setSetPoint(setp1); 00166 times=timerStart.read(); 00167 if(times==1)// m/s 00168 { 00169 getvelo1(); 00170 //pc.printf("TIME \n"); 00171 times=0; 00172 pulse_1=0; 00173 } 00174 P1.setProcessValue(valocity1); 00175 outPID=P1.compute(); 00176 //pc.printf("outPID=%f \n",outPID); 00177 m1.movespeed_1(setp1,outPID); 00178 } 00179 void PID_m2()//right 00180 { 00181 setp2=map(1.0,0.0,1.094,0.0,1.0); 00182 P2.setSetPoint(setp2); 00183 times=timerStart.read(); 00184 if(times==1)// m/s 00185 { 00186 getvelo2(); 00187 //pc.printf("TIME \n"); 00188 times=0; 00189 pulse_2=0; 00190 } 00191 P2.setProcessValue(valocity2); 00192 outPID=P2.compute(); 00193 //pc.printf("outPID=%f \n",outPID); 00194 m1.movespeed_2(setp2,outPID); 00195 } 00196 00197 00198 void RC() 00199 { 00200 myled =1; 00201 uint8_t data_array[30]; 00202 uint8_t id=0; 00203 uint8_t ins=0; 00204 uint8_t status=0xFF; 00205 00206 00207 00208 status = com.ReceiveCommand(&id,data_array,&ins); 00209 PC.printf("status = 0x%02x\n\r",status); 00210 if(status == ANDANTE_ERRBIT_NONE) { 00211 CmdCheck((int16_t)id,data_array,ins); 00212 PC.printf("RC******************************"); 00213 } 00214 00215 } 00216 /*******************************************************/ 00217 int buf=0; 00218 int main() 00219 { 00220 PC.baud(115200); 00221 lidar.begin(se_lidar); 00222 tim.start(); 00223 //com1 = new COMMUNICATION(PA_9,PA_10,115200); 00224 encoderA_1.rise(&EncoderA_1); 00225 timerStart.start(); 00226 P1.setMode(1); 00227 P1.setBias(0); 00228 // pc.printf("READY \n"); 00229 //pc.attach(&Rx_interrupt, Serial::RxIrq); 00230 lidar.setAngle(0,360); 00231 while(1) { 00232 00233 VMO=1; 00234 get_rplidar(); 00235 /* if(tim.read_ms()-buf>=1000){ 00236 for(int x=0;x<=359;x++){ 00237 printf("%d,",lidar.Data[x]); 00238 } 00239 buf = tim.read_ms(); 00240 }*/ 00241 RC(); 00242 //wait_ms(1); 00243 } 00244 } 00245 00246 00247 00248 00249 00250 00251 00252 00253 00254 void CmdCheck(int16_t id,uint8_t *command,uint8_t ins) 00255 { 00256 PC.printf("cmdcheck\n"); 00257 if(id==MY_ID) { 00258 switch (ins) { 00259 case PING: { 00260 break; 00261 } 00262 case WRITE_DATA: { 00263 switch (command[0]) { 00264 case ID: { 00265 /// 00266 MY_ID = (int16_t)command[1]; 00267 break; 00268 } 00269 case SET_VELOCITY_LEFT: { 00270 // 00271 uint8_t int_buffer[2],float_buffer[2]; 00272 float Int,flo; 00273 int_buffer[0]=command[1]; 00274 int_buffer[1]=command[2]; 00275 float_buffer[0]=command[3]; 00276 float_buffer[1]=command[4]; 00277 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer); 00278 flo=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer); 00279 VL=Int+(flo/10000); 00280 PC.printf("VL=%f /n",VL); 00281 break; 00282 } 00283 case SET_VELOCITY_RIGHT: { 00284 // 00285 uint8_t int_buffer[2],float_buffer[2]; 00286 float Int,flo; 00287 int_buffer[0]=command[1]; 00288 int_buffer[1]=command[2]; 00289 float_buffer[0]=command[3]; 00290 float_buffer[1]=command[4]; 00291 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer); 00292 flo=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer); 00293 VR=Int+flo; 00294 PC.printf("VL=%f /n",VR); 00295 break; 00296 } 00297 case SET_VELOCITY_MAX_LEFT: { 00298 // 00299 uint8_t int_buffer[2],float_buffer[2]; 00300 float Int,flo; 00301 int_buffer[0]=command[1]; 00302 int_buffer[1]=command[2]; 00303 float_buffer[0]=command[3]; 00304 float_buffer[1]=command[4]; 00305 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer); 00306 flo=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer); 00307 VLmax=Int+flo; 00308 PC.printf("VL=%f /n",VLmax); 00309 break; 00310 } 00311 case SET_VELOCITY_MAX_RIGHT: { 00312 // 00313 uint8_t int_buffer[2],float_buffer[2]; 00314 float Int,flo; 00315 int_buffer[0]=command[1]; 00316 int_buffer[1]=command[2]; 00317 float_buffer[0]=command[3]; 00318 float_buffer[1]=command[4]; 00319 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer); 00320 flo=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer); 00321 VRmax=Int+flo; 00322 PC.printf("VRmax = %f",VRmax); 00323 // PC.printf("*****************************"); 00324 break; 00325 } 00326 //save to rom 00327 case SET_KP_LEFT: { 00328 uint8_t int_buffer[2],float_buffer[2]; 00329 float Int,flo; 00330 int_buffer[0]=command[1]; 00331 int_buffer[1]=command[2]; 00332 float_buffer[0]=command[3]; 00333 float_buffer[1]=command[4]; 00334 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer); 00335 flo=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer); 00336 00337 KP_LEFT=Int+flo; 00338 PC.printf("KP_LEFT=%f /n",KP_LEFT); 00339 int32_t data_buff; 00340 data_buff = Utilities::ConvertUInt8ArrayToInt32(int_buffer); 00341 memory.write(ADDRESS_LEFT_KP,data_buff); 00342 wait_ms(EEPROM_DELAY); 00343 break; 00344 } 00345 case SET_KI_LEFT: { 00346 uint8_t int_buffer[2],float_buffer[2]; 00347 float Int,flo; 00348 int_buffer[0]=command[1]; 00349 int_buffer[1]=command[2]; 00350 float_buffer[0]=command[3]; 00351 float_buffer[1]=command[4]; 00352 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer); 00353 flo=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer); 00354 00355 KI_LEFT=Int+flo; 00356 PC.printf("KI_LEFT=%f /n",KI_LEFT); 00357 int32_t data_buff; 00358 data_buff = Utilities::ConvertUInt8ArrayToInt32(int_buffer); 00359 memory.write(ADDRESS_LEFT_KI ,data_buff); 00360 wait_ms(EEPROM_DELAY); 00361 break; 00362 } 00363 case SET_KD_LEFT: { 00364 uint8_t int_buffer[2],float_buffer[2]; 00365 float Int,flo; 00366 int_buffer[0]=command[1]; 00367 int_buffer[1]=command[2]; 00368 float_buffer[0]=command[3]; 00369 float_buffer[1]=command[4]; 00370 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer); 00371 flo=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer); 00372 KD_LEFT=Int+flo; 00373 PC.printf("KD_LEFT=%f /n",KD_LEFT); 00374 int32_t data_buff; 00375 data_buff = Utilities::ConvertUInt8ArrayToInt32(int_buffer); 00376 memory.write(ADDRESS_LEFT_KD,data_buff); 00377 wait_ms(EEPROM_DELAY); 00378 break; 00379 } 00380 case SET_KP_RIGHT: { 00381 uint8_t int_buffer[2],float_buffer[2]; 00382 float Int,flo; 00383 int_buffer[0]=command[1]; 00384 int_buffer[1]=command[2]; 00385 float_buffer[0]=command[3]; 00386 float_buffer[1]=command[4]; 00387 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer); 00388 flo=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer); 00389 KP_RIGHT=Int+flo; 00390 PC.printf("KP_RIGHT=%f /n",KP_RIGHT); 00391 int32_t data_buff; 00392 data_buff = Utilities::ConvertUInt8ArrayToInt32(int_buffer); 00393 memory.write(ADDRESS_RIGHT_KP,data_buff); 00394 wait_ms(EEPROM_DELAY); 00395 break; 00396 } 00397 case SET_KI_RIGHT: { 00398 uint8_t int_buffer[2],float_buffer[2]; 00399 float Int,flo; 00400 int_buffer[0]=command[1]; 00401 int_buffer[1]=command[2]; 00402 float_buffer[0]=command[3]; 00403 float_buffer[1]=command[4]; 00404 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer); 00405 flo=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer); 00406 KI_RIGHT=Int+flo; 00407 PC.printf("KI_RIGHT=%f /n",KI_RIGHT); 00408 int32_t data_buff; 00409 data_buff = Utilities::ConvertUInt8ArrayToInt32(int_buffer); 00410 memory.write(ADDRESS_RIGHT_KI,data_buff); 00411 wait_ms(EEPROM_DELAY); 00412 break; 00413 } 00414 case SET_KD_RIGHT: { 00415 uint8_t int_buffer[2],float_buffer[2]; 00416 float Int,flo; 00417 int_buffer[0]=command[1]; 00418 int_buffer[1]=command[2]; 00419 float_buffer[0]=command[3]; 00420 float_buffer[1]=command[4]; 00421 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer); 00422 flo=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer); 00423 KD_RIGHT=Int+flo; 00424 PC.printf("KD_RIGHT=%f /n",KD_RIGHT); 00425 int32_t data_buff; 00426 data_buff = Utilities::ConvertUInt8ArrayToInt32(int_buffer); 00427 memory.write(ADDRESS_RIGHT_KD,data_buff); 00428 wait_ms(EEPROM_DELAY); 00429 break; 00430 } 00431 } 00432 } break; 00433 case READ_DATA: { PC.printf("READ_DATA\n"); 00434 switch (command[0]) { 00435 case GET_LIDAR: { 00436 00437 com.sendlidar(); 00438 PC.printf("SEND1\n"); 00439 break; 00440 } 00441 case GET_LIDAR2: { 00442 00443 com.sendlidar2(); 00444 PC.printf("SEND2\n"); 00445 break; 00446 } 00447 case GET_LIDAR3: { 00448 00449 com.sendlidar3(); 00450 PC.printf("SEND3\n"); 00451 break; 00452 } 00453 case GET_LIDAR4: { 00454 00455 com.sendlidar4(); 00456 PC.printf("SEND4\n"); 00457 break; 00458 } 00459 case GET_LIDAR5: { 00460 00461 00462 com.sendlidar5(); 00463 PC.printf("SEND5\n"); 00464 break; 00465 } 00466 case GET_LIDAR6: { 00467 com.sendlidar6(); 00468 PC.printf("SEND6\n"); 00469 00470 break; 00471 } 00472 00473 case GET_BATTERY: { 00474 00475 break; 00476 } 00477 case GET_VELOCITY_LEFT: { 00478 uint8_t intVelo_L[2],floatVelo_L[2]; 00479 com.FloatSep(valocity1,intVelo_L,floatVelo_L); 00480 ANDANTE_PROTOCOL_PACKET package; 00481 00482 package.robotId = MY_ID; 00483 package.length = 6; 00484 package.instructionErrorId = WRITE_DATA; 00485 package.parameter[0]=intVelo_L[0]; 00486 package.parameter[1]=intVelo_L[1]; 00487 package.parameter[2]=floatVelo_L[0]; 00488 package.parameter[3]=floatVelo_L[1]; 00489 00490 rs485_dirc1=1; 00491 wait_us(RS485_DELAY); 00492 com1->sendCommunicatePacket(&package); 00493 00494 00495 break; 00496 } 00497 case GET_VELOCITY_RIGHT : { 00498 uint8_t intVelo_R[2],floatVelo_R[2]; 00499 com.FloatSep(valocity2,intVelo_R,floatVelo_R); 00500 00501 00502 ANDANTE_PROTOCOL_PACKET package; 00503 00504 package.robotId = MY_ID; 00505 package.length = 6; 00506 package.instructionErrorId = WRITE_DATA; 00507 package.parameter[0]=intVelo_R[0]; 00508 package.parameter[1]=intVelo_R[1]; 00509 package.parameter[2]=floatVelo_R[0]; 00510 package.parameter[3]=floatVelo_R[1]; 00511 00512 rs485_dirc1=1; 00513 wait_us(RS485_DELAY); 00514 com1->sendCommunicatePacket(&package); 00515 00516 break; 00517 } 00518 case GET_KP_LEFT: { 00519 memory.read(ADDRESS_LEFT_KP ,KP_LEFT_BUFF); 00520 uint8_t intKPL[2],floatKPL[2]; 00521 com.FloatSep(KP_LEFT_BUFF,intKPL,floatKPL); 00522 00523 00524 ANDANTE_PROTOCOL_PACKET package; 00525 00526 package.robotId = MY_ID; 00527 package.length = 6; 00528 package.instructionErrorId = WRITE_DATA; 00529 package.parameter[0]=intKPL[0]; 00530 package.parameter[1]=intKPL[1]; 00531 package.parameter[2]=floatKPL[0]; 00532 package.parameter[3]=floatKPL[1]; 00533 00534 rs485_dirc1=1; 00535 wait_us(RS485_DELAY); 00536 com1->sendCommunicatePacket(&package); 00537 00538 break; 00539 } 00540 case GET_KI_LEFT: { 00541 memory.read(ADDRESS_LEFT_KP ,KI_LEFT_BUFF); 00542 uint8_t intKIL[2],floatKIL[2]; 00543 com.FloatSep(KI_LEFT_BUFF,intKIL,floatKIL); 00544 00545 00546 ANDANTE_PROTOCOL_PACKET package; 00547 00548 package.robotId = MY_ID; 00549 package.length = 6; 00550 package.instructionErrorId = WRITE_DATA; 00551 package.parameter[0]=intKIL[0]; 00552 package.parameter[1]=intKIL[1]; 00553 package.parameter[2]=floatKIL[0]; 00554 package.parameter[3]=floatKIL[1]; 00555 00556 rs485_dirc1=1; 00557 wait_us(RS485_DELAY); 00558 com1->sendCommunicatePacket(&package); 00559 00560 break; 00561 } 00562 case GET_KD_LEFT: { 00563 memory.read(ADDRESS_LEFT_KP ,KD_LEFT_BUFF); 00564 uint8_t intKDL[2],floatKDL[2]; 00565 com.FloatSep(KD_LEFT_BUFF,intKDL,floatKDL); 00566 00567 00568 ANDANTE_PROTOCOL_PACKET package; 00569 00570 package.robotId = MY_ID; 00571 package.length = 6; 00572 package.instructionErrorId = WRITE_DATA; 00573 package.parameter[0]=intKDL[0]; 00574 package.parameter[1]=intKDL[1]; 00575 package.parameter[2]=floatKDL[0]; 00576 package.parameter[3]=floatKDL[1]; 00577 00578 rs485_dirc1=1; 00579 wait_us(RS485_DELAY); 00580 com1->sendCommunicatePacket(&package); 00581 00582 break; 00583 } 00584 case GET_KP_RIGHT: { 00585 memory.read(ADDRESS_LEFT_KP ,KP_RIGHT_BUFF); 00586 uint8_t intKDR[2],floatKDR[2]; 00587 com.FloatSep(KP_RIGHT_BUFF,intKDR,floatKDR); 00588 00589 00590 ANDANTE_PROTOCOL_PACKET package; 00591 00592 package.robotId = MY_ID; 00593 package.length = 6; 00594 package.instructionErrorId = WRITE_DATA; 00595 package.parameter[0]=intKDR[0]; 00596 package.parameter[1]=intKDR[1]; 00597 package.parameter[2]=floatKDR[0]; 00598 package.parameter[3]=floatKDR[1]; 00599 00600 rs485_dirc1=1; 00601 wait_us(RS485_DELAY); 00602 com1->sendCommunicatePacket(&package); 00603 00604 break; 00605 } 00606 case GET_KI_RIGHT: { 00607 memory.read(ADDRESS_LEFT_KP ,KI_RIGHT_BUFF); 00608 uint8_t intKIR[2],floatKIR[2]; 00609 com.FloatSep(KI_RIGHT_BUFF,intKIR,floatKIR); 00610 00611 00612 ANDANTE_PROTOCOL_PACKET package; 00613 00614 package.robotId = MY_ID; 00615 package.length = 6; 00616 package.instructionErrorId = WRITE_DATA; 00617 package.parameter[0]=intKIR[0]; 00618 package.parameter[1]=intKIR[1]; 00619 package.parameter[2]=floatKIR[0]; 00620 package.parameter[3]=floatKIR[1]; 00621 00622 rs485_dirc1=1; 00623 wait_us(RS485_DELAY); 00624 com1->sendCommunicatePacket(&package); 00625 00626 break; 00627 } 00628 case GET_KD_RIGHT: { 00629 memory.read(ADDRESS_LEFT_KP ,KD_RIGHT_BUFF); 00630 uint8_t intKDR[2],floatKDR[2]; 00631 com.FloatSep(KD_RIGHT_BUFF,intKDR,floatKDR); 00632 00633 00634 ANDANTE_PROTOCOL_PACKET package; 00635 00636 package.robotId = MY_ID; 00637 package.length = 6; 00638 package.instructionErrorId = WRITE_DATA; 00639 package.parameter[0]=intKDR[0]; 00640 package.parameter[1]=intKDR[1]; 00641 package.parameter[2]=floatKDR[0]; 00642 package.parameter[3]=floatKDR[1]; 00643 00644 rs485_dirc1=1; 00645 wait_us(RS485_DELAY); 00646 com1->sendCommunicatePacket(&package); 00647 00648 break; 00649 } 00650 } 00651 }break; 00652 00653 } 00654 } 00655 }
Generated on Thu Jul 14 2022 15:54:29 by
1.7.2