Command.h

00001 //Instruction Set
00002 #define PING         0x01
00003 #define READ_DATA    0x02
00004 #define WRITE_DATA   0x03
00005 
00006 //CONTROL TABLE
00007 #define ID                     0x00
00008 //Constructor
00009 #define SET_VELOCITY_LEFT      0x01
00010 #define SET_VELOCITY_RIGHT     0x02
00011 #define SET_VELOCITY_MAX_LEFT  0x03
00012 #define SET_VELOCITY_MAX_RIGHT 0x04
00013 #define SET_KP_LEFT            0x05
00014 #define SET_KI_LEFT            0x06
00015 #define SET_KD_LEFT            0x07
00016 #define SET_KP_RIGHT           0x08
00017 #define SET_KI_RIGHT           0x09
00018 #define SET_KD_RIGHT           0x0A
00019 #define SET_ANGLE_MAX          0x17
00020 #define SET_ANGLE_MIN          0x18
00021 #define GET_LIDAR              0x1B
00022 #define GET_LIDAR2             0x2B
00023 #define GET_LIDAR3             0x3B
00024 #define GET_LIDAR4             0x4B
00025 #define GET_LIDAR5             0x5B
00026 #define GET_LIDAR6             0x6B
00027 #define GET_BATTERY            0x0C
00028 #define GET_VELOCITY_LEFT      0x0D
00029 #define GET_VELOCITY_RIGHT     0x0E
00030 #define GET_KP_LEFT            0x0F
00031 #define GET_KI_LEFT            0x10
00032 #define GET_KD_LEFT            0x11
00033 #define GET_KP_RIGHT           0x12
00034 #define GET_KI_RIGHT           0x13
00035 #define GET_KD_RIGHT           0x14
00036 
00037 
00038 
00039 #define RS485_DELAY 90
00040 #define RS485_DIRC PA_14