Secret_Betago / BEAR_Reciever

update protocol.h

Dependencies:   Communication_Robot

Fork of BEAR_Reciever by BE@R lab

Receiver.cpp@15:fe0cc017c66d, 2016-01-24 (annotated)

Committer:
b0ssiz
Date:
Sun Jan 24 07:24:53 2016 +0000
Revision:
15:fe0cc017c66d
Parent:
14:1c3180c64272
Child:
17:774eec1470d8
Fixed bug function ReceiveCommand in Receiver.cpp;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
b0ssiz 5:baf5576a14bd 1 #include "mbed.h"
b0ssiz 5:baf5576a14bd 2 #include "Receiver.h"
b0ssiz 7:a0ea8c127611 3
b0ssiz 5:baf5576a14bd 4
b0ssiz 5:baf5576a14bd 5 DigitalOut rs485_dirc(RS485_DIRC);
b0ssiz 5:baf5576a14bd 6
b0ssiz 5:baf5576a14bd 7 Bear_Receiver::Bear_Receiver(PinName tx,PinName rx,int baudrate)
b0ssiz 5:baf5576a14bd 8 {
b0ssiz 5:baf5576a14bd 9 com = new COMMUNICATION(tx,rx,baudrate);
b0ssiz 5:baf5576a14bd 10 }
b0ssiz 5:baf5576a14bd 11
b0ssiz 8:2d34916ac178 12 uint8_t Bear_Receiver::ReceiveCommand(uint8_t *id,uint8_t *data_array,uint8_t *ins)
b0ssiz 5:baf5576a14bd 13 {
b0ssiz 5:baf5576a14bd 14 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 5:baf5576a14bd 15
b0ssiz 5:baf5576a14bd 16 rs485_dirc=0;
b0ssiz 5:baf5576a14bd 17 wait_us(RS485_DELAY);
b0ssiz 5:baf5576a14bd 18 uint8_t status = com->receiveCommunicatePacket(&package);
b0ssiz 5:baf5576a14bd 19
b0ssiz 5:baf5576a14bd 20 if(status == ANDANTE_ERRBIT_NONE) {
b0ssiz 5:baf5576a14bd 21
b0ssiz 8:2d34916ac178 22 *id = package.robotId;
b0ssiz 15:fe0cc017c66d 23 for(int i=0; i<30; i++) {
b0ssiz 15:fe0cc017c66d 24 data_array[i] = package.parameter[i];
b0ssiz 15:fe0cc017c66d 25 }
b0ssiz 8:2d34916ac178 26 *ins=package.instructionErrorId;
b0ssiz 5:baf5576a14bd 27
b0ssiz 5:baf5576a14bd 28 }
b0ssiz 5:baf5576a14bd 29 return status;
b0ssiz 5:baf5576a14bd 30 }
b0ssiz 5:baf5576a14bd 31
b0ssiz 5:baf5576a14bd 32
b0ssiz 5:baf5576a14bd 33
b0ssiz 7:a0ea8c127611 34
b0ssiz 7:a0ea8c127611 35
b0ssiz 5:baf5576a14bd 36 void Bear_Receiver::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array)
b0ssiz 5:baf5576a14bd 37 {
b0ssiz 5:baf5576a14bd 38 float float_buffer;
b0ssiz 5:baf5576a14bd 39 float int_buffer;
b0ssiz 5:baf5576a14bd 40 int16_t integer;
b0ssiz 5:baf5576a14bd 41 int16_t floating_point;
b0ssiz 5:baf5576a14bd 42
b0ssiz 5:baf5576a14bd 43 float_buffer=modf(input_float,&int_buffer);
b0ssiz 5:baf5576a14bd 44 float_buffer*=FLOAT_CONVERTER;
b0ssiz 5:baf5576a14bd 45 integer=(int16_t)int_buffer;
b0ssiz 5:baf5576a14bd 46 floating_point=(int16_t)float_buffer;
b0ssiz 5:baf5576a14bd 47 Utilities::ConvertInt16ToUInt8Array(integer,int_data_array);
b0ssiz 5:baf5576a14bd 48 Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array);
b0ssiz 5:baf5576a14bd 49 }
b0ssiz 5:baf5576a14bd 50
b0ssiz 5:baf5576a14bd 51
b0ssiz 5:baf5576a14bd 52
b0ssiz 5:baf5576a14bd 53
b0ssiz 5:baf5576a14bd 54 uint8_t Bear_Receiver::sendMotorPos(uint8_t id,float up_angle,float low_angle)
b0ssiz 5:baf5576a14bd 55 {
b0ssiz 5:baf5576a14bd 56 uint8_t IntUpAngle[2],FloatUpAngle[2];
b0ssiz 5:baf5576a14bd 57 uint8_t IntLowAngle[2],FloatLowAngle[2];
b0ssiz 5:baf5576a14bd 58 FloatSep(up_angle,IntUpAngle,FloatUpAngle);
b0ssiz 5:baf5576a14bd 59 FloatSep(low_angle,IntLowAngle,FloatLowAngle);
b0ssiz 5:baf5576a14bd 60
b0ssiz 5:baf5576a14bd 61 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 5:baf5576a14bd 62
b0ssiz 5:baf5576a14bd 63 package.robotId = id;
b0ssiz 5:baf5576a14bd 64 package.length = 10;
b0ssiz 5:baf5576a14bd 65 package.instructionErrorId = WRITE_DATA;
b0ssiz 5:baf5576a14bd 66 package.parameter[0]=IntUpAngle[0];
b0ssiz 5:baf5576a14bd 67 package.parameter[1]=IntUpAngle[1];
b0ssiz 5:baf5576a14bd 68 package.parameter[2]=FloatUpAngle[0];
b0ssiz 5:baf5576a14bd 69 package.parameter[3]=FloatUpAngle[1];
b0ssiz 5:baf5576a14bd 70 package.parameter[4]=IntLowAngle[0];
b0ssiz 5:baf5576a14bd 71 package.parameter[5]=IntLowAngle[1];
b0ssiz 5:baf5576a14bd 72 package.parameter[6]=FloatLowAngle[0];
b0ssiz 5:baf5576a14bd 73 package.parameter[7]=FloatLowAngle[1];
b0ssiz 5:baf5576a14bd 74
b0ssiz 5:baf5576a14bd 75 rs485_dirc=1;
b0ssiz 5:baf5576a14bd 76 wait_us(RS485_DELAY);
b0ssiz 5:baf5576a14bd 77 return com->sendCommunicatePacket(&package);
b0ssiz 6:f6529ad2a70d 78
b0ssiz 6:f6529ad2a70d 79
b0ssiz 6:f6529ad2a70d 80 }
b0ssiz 6:f6529ad2a70d 81
b0ssiz 6:f6529ad2a70d 82
b0ssiz 6:f6529ad2a70d 83
b0ssiz 6:f6529ad2a70d 84 uint8_t Bear_Receiver::sendUpMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd)
b0ssiz 6:f6529ad2a70d 85 {
b0ssiz 6:f6529ad2a70d 86 uint8_t IntKp[2],FloatKp[2];
b0ssiz 6:f6529ad2a70d 87 uint8_t IntKi[2],FloatKi[2];
b0ssiz 6:f6529ad2a70d 88 uint8_t IntKd[2],FloatKd[2];
b0ssiz 7:a0ea8c127611 89
b0ssiz 6:f6529ad2a70d 90 FloatSep(Kp,IntKp,FloatKp);
b0ssiz 6:f6529ad2a70d 91 FloatSep(Ki,IntKi,FloatKi);
b0ssiz 6:f6529ad2a70d 92 FloatSep(Kd,IntKd,FloatKd);
b0ssiz 7:a0ea8c127611 93
b0ssiz 7:a0ea8c127611 94
b0ssiz 6:f6529ad2a70d 95 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 6:f6529ad2a70d 96
b0ssiz 6:f6529ad2a70d 97 package.robotId = id;
b0ssiz 6:f6529ad2a70d 98 package.length = 14;
b0ssiz 6:f6529ad2a70d 99 package.instructionErrorId = WRITE_DATA;
b0ssiz 6:f6529ad2a70d 100 package.parameter[0]=IntKp[0];
b0ssiz 6:f6529ad2a70d 101 package.parameter[1]=IntKp[1];
b0ssiz 6:f6529ad2a70d 102 package.parameter[2]=FloatKp[0];
b0ssiz 6:f6529ad2a70d 103 package.parameter[3]=FloatKp[1];
b0ssiz 6:f6529ad2a70d 104 package.parameter[4]=IntKi[0];
b0ssiz 6:f6529ad2a70d 105 package.parameter[5]=IntKi[1];
b0ssiz 6:f6529ad2a70d 106 package.parameter[6]=FloatKi[0];
b0ssiz 6:f6529ad2a70d 107 package.parameter[7]=FloatKi[1];
b0ssiz 6:f6529ad2a70d 108 package.parameter[8]=IntKd[0];
b0ssiz 6:f6529ad2a70d 109 package.parameter[9]=IntKd[1];
b0ssiz 6:f6529ad2a70d 110 package.parameter[10]=FloatKd[0];
b0ssiz 6:f6529ad2a70d 111 package.parameter[11]=FloatKd[1];
b0ssiz 6:f6529ad2a70d 112
b0ssiz 6:f6529ad2a70d 113 rs485_dirc=1;
b0ssiz 6:f6529ad2a70d 114 wait_us(RS485_DELAY);
b0ssiz 6:f6529ad2a70d 115 return com->sendCommunicatePacket(&package);
b0ssiz 6:f6529ad2a70d 116 }
b0ssiz 6:f6529ad2a70d 117
b0ssiz 6:f6529ad2a70d 118
b0ssiz 6:f6529ad2a70d 119
b0ssiz 6:f6529ad2a70d 120
b0ssiz 6:f6529ad2a70d 121 uint8_t Bear_Receiver::sendLowMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd)
b0ssiz 6:f6529ad2a70d 122 {
b0ssiz 6:f6529ad2a70d 123 uint8_t IntKp[2],FloatKp[2];
b0ssiz 6:f6529ad2a70d 124 uint8_t IntKi[2],FloatKi[2];
b0ssiz 6:f6529ad2a70d 125 uint8_t IntKd[2],FloatKd[2];
b0ssiz 7:a0ea8c127611 126
b0ssiz 6:f6529ad2a70d 127 FloatSep(Kp,IntKp,FloatKp);
b0ssiz 6:f6529ad2a70d 128 FloatSep(Ki,IntKi,FloatKi);
b0ssiz 6:f6529ad2a70d 129 FloatSep(Kd,IntKd,FloatKd);
b0ssiz 7:a0ea8c127611 130
b0ssiz 7:a0ea8c127611 131
b0ssiz 6:f6529ad2a70d 132 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 6:f6529ad2a70d 133
b0ssiz 6:f6529ad2a70d 134 package.robotId = id;
b0ssiz 6:f6529ad2a70d 135 package.length = 14;
b0ssiz 6:f6529ad2a70d 136 package.instructionErrorId = WRITE_DATA;
b0ssiz 6:f6529ad2a70d 137 package.parameter[0]=IntKp[0];
b0ssiz 6:f6529ad2a70d 138 package.parameter[1]=IntKp[1];
b0ssiz 6:f6529ad2a70d 139 package.parameter[2]=FloatKp[0];
b0ssiz 6:f6529ad2a70d 140 package.parameter[3]=FloatKp[1];
b0ssiz 6:f6529ad2a70d 141 package.parameter[4]=IntKi[0];
b0ssiz 6:f6529ad2a70d 142 package.parameter[5]=IntKi[1];
b0ssiz 6:f6529ad2a70d 143 package.parameter[6]=FloatKi[0];
b0ssiz 6:f6529ad2a70d 144 package.parameter[7]=FloatKi[1];
b0ssiz 6:f6529ad2a70d 145 package.parameter[8]=IntKd[0];
b0ssiz 6:f6529ad2a70d 146 package.parameter[9]=IntKd[1];
b0ssiz 6:f6529ad2a70d 147 package.parameter[10]=FloatKd[0];
b0ssiz 6:f6529ad2a70d 148 package.parameter[11]=FloatKd[1];
b0ssiz 6:f6529ad2a70d 149
b0ssiz 6:f6529ad2a70d 150 rs485_dirc=1;
b0ssiz 6:f6529ad2a70d 151 wait_us(RS485_DELAY);
b0ssiz 6:f6529ad2a70d 152 return com->sendCommunicatePacket(&package);
b0ssiz 8:2d34916ac178 153 }
b0ssiz 8:2d34916ac178 154
b0ssiz 8:2d34916ac178 155
b0ssiz 8:2d34916ac178 156
ParinyaT 14:1c3180c64272 157 uint8_t Bear_Receiver::sendUpMargin(uint8_t id,uint8_t *Margin)
b0ssiz 12:be8675c18a58 158 {
b0ssiz 12:be8675c18a58 159 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 12:be8675c18a58 160
b0ssiz 12:be8675c18a58 161 package.robotId = id;
b0ssiz 12:be8675c18a58 162 package.length = 6;
b0ssiz 12:be8675c18a58 163 package.instructionErrorId = WRITE_DATA;
ParinyaT 14:1c3180c64272 164 package.parameter[0]=Margin[0];
ParinyaT 14:1c3180c64272 165 package.parameter[1]=Margin[1];
ParinyaT 14:1c3180c64272 166 package.parameter[2]=Margin[2];
ParinyaT 14:1c3180c64272 167 package.parameter[3]=Margin[3];
b0ssiz 12:be8675c18a58 168
b0ssiz 12:be8675c18a58 169 rs485_dirc=1;
b0ssiz 12:be8675c18a58 170 wait_us(RS485_DELAY);
b0ssiz 12:be8675c18a58 171 return com->sendCommunicatePacket(&package);
b0ssiz 12:be8675c18a58 172
b0ssiz 12:be8675c18a58 173 }
b0ssiz 12:be8675c18a58 174
ParinyaT 14:1c3180c64272 175 uint8_t Bear_Receiver::sendLowMargin(uint8_t id,uint8_t *Margin)
b0ssiz 8:2d34916ac178 176 {
b0ssiz 8:2d34916ac178 177 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 8:2d34916ac178 178
b0ssiz 8:2d34916ac178 179 package.robotId = id;
b0ssiz 8:2d34916ac178 180 package.length = 6;
b0ssiz 8:2d34916ac178 181 package.instructionErrorId = WRITE_DATA;
ParinyaT 14:1c3180c64272 182 package.parameter[0]=Margin[0];
ParinyaT 14:1c3180c64272 183 package.parameter[1]=Margin[1];
ParinyaT 14:1c3180c64272 184 package.parameter[2]=Margin[2];
ParinyaT 14:1c3180c64272 185 package.parameter[3]=Margin[3];
b0ssiz 8:2d34916ac178 186
b0ssiz 8:2d34916ac178 187 rs485_dirc=1;
b0ssiz 8:2d34916ac178 188 wait_us(RS485_DELAY);
b0ssiz 8:2d34916ac178 189 return com->sendCommunicatePacket(&package);
b0ssiz 8:2d34916ac178 190
b0ssiz 8:2d34916ac178 191 }
b0ssiz 8:2d34916ac178 192
ParinyaT 14:1c3180c64272 193 uint8_t Bear_Receiver::sendHeight(uint8_t id,uint8_t *Height)
b0ssiz 8:2d34916ac178 194 {
b0ssiz 8:2d34916ac178 195 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 8:2d34916ac178 196
b0ssiz 8:2d34916ac178 197 package.robotId = id;
b0ssiz 8:2d34916ac178 198 package.length = 6;
b0ssiz 8:2d34916ac178 199 package.instructionErrorId = WRITE_DATA;
ParinyaT 14:1c3180c64272 200 package.parameter[0]=Height[0];
ParinyaT 14:1c3180c64272 201 package.parameter[1]=Height[1];
ParinyaT 14:1c3180c64272 202 package.parameter[2]=Height[2];
ParinyaT 14:1c3180c64272 203 package.parameter[3]=Height[3];
b0ssiz 8:2d34916ac178 204
b0ssiz 8:2d34916ac178 205 rs485_dirc=1;
b0ssiz 8:2d34916ac178 206 wait_us(RS485_DELAY);
b0ssiz 8:2d34916ac178 207 return com->sendCommunicatePacket(&package);
b0ssiz 8:2d34916ac178 208 }
b0ssiz 8:2d34916ac178 209
ParinyaT 14:1c3180c64272 210 uint8_t Bear_Receiver::sendWheelPos(uint8_t id,uint8_t *WheelPos)
b0ssiz 8:2d34916ac178 211 {
b0ssiz 8:2d34916ac178 212 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 8:2d34916ac178 213
b0ssiz 8:2d34916ac178 214 package.robotId = id;
b0ssiz 8:2d34916ac178 215 package.length = 6;
b0ssiz 8:2d34916ac178 216 package.instructionErrorId = WRITE_DATA;
ParinyaT 14:1c3180c64272 217 package.parameter[0]=WheelPos[0];
ParinyaT 14:1c3180c64272 218 package.parameter[1]=WheelPos[1];
ParinyaT 14:1c3180c64272 219 package.parameter[2]=WheelPos[2];
ParinyaT 14:1c3180c64272 220 package.parameter[3]=WheelPos[3];
b0ssiz 8:2d34916ac178 221
b0ssiz 8:2d34916ac178 222 rs485_dirc=1;
b0ssiz 8:2d34916ac178 223 wait_us(RS485_DELAY);
b0ssiz 8:2d34916ac178 224 return com->sendCommunicatePacket(&package);
b0ssiz 8:2d34916ac178 225 }
b0ssiz 8:2d34916ac178 226
ParinyaT 14:1c3180c64272 227 uint8_t Bear_Receiver::sendMagData(uint8_t id,uint8_t *Mag)
b0ssiz 8:2d34916ac178 228 {
b0ssiz 8:2d34916ac178 229 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 8:2d34916ac178 230
b0ssiz 8:2d34916ac178 231 package.robotId = id;
b0ssiz 8:2d34916ac178 232 package.length = 26;
b0ssiz 8:2d34916ac178 233 package.instructionErrorId = WRITE_DATA;
ParinyaT 14:1c3180c64272 234 package.parameter[0]=Mag[0];
ParinyaT 14:1c3180c64272 235 package.parameter[1]=Mag[1];
ParinyaT 14:1c3180c64272 236 package.parameter[2]=Mag[2];
ParinyaT 14:1c3180c64272 237 package.parameter[3]=Mag[3];
ParinyaT 14:1c3180c64272 238 package.parameter[4]=Mag[4];
ParinyaT 14:1c3180c64272 239 package.parameter[5]=Mag[5];
ParinyaT 14:1c3180c64272 240 package.parameter[6]=Mag[6];
ParinyaT 14:1c3180c64272 241 package.parameter[7]=Mag[7];
ParinyaT 14:1c3180c64272 242 package.parameter[8]=Mag[8];
ParinyaT 14:1c3180c64272 243 package.parameter[9]=Mag[9];
ParinyaT 14:1c3180c64272 244 package.parameter[10]=Mag[10];
ParinyaT 14:1c3180c64272 245 package.parameter[11]=Mag[11];
ParinyaT 14:1c3180c64272 246 package.parameter[12]=Mag[12];
ParinyaT 14:1c3180c64272 247 package.parameter[13]=Mag[13];
ParinyaT 14:1c3180c64272 248 package.parameter[14]=Mag[14];
ParinyaT 14:1c3180c64272 249 package.parameter[15]=Mag[15];
ParinyaT 14:1c3180c64272 250 package.parameter[16]=Mag[16];
ParinyaT 14:1c3180c64272 251 package.parameter[17]=Mag[17];
ParinyaT 14:1c3180c64272 252 package.parameter[18]=Mag[18];
ParinyaT 14:1c3180c64272 253 package.parameter[19]=Mag[19];
ParinyaT 14:1c3180c64272 254 package.parameter[20]=Mag[20];
ParinyaT 14:1c3180c64272 255 package.parameter[21]=Mag[21];
ParinyaT 14:1c3180c64272 256 package.parameter[22]=Mag[22];
ParinyaT 14:1c3180c64272 257 package.parameter[23]=Mag[23];
b0ssiz 8:2d34916ac178 258
b0ssiz 8:2d34916ac178 259 rs485_dirc=1;
b0ssiz 8:2d34916ac178 260 wait_us(RS485_DELAY);
b0ssiz 8:2d34916ac178 261 return com->sendCommunicatePacket(&package);
b0ssiz 8:2d34916ac178 262 }
b0ssiz 8:2d34916ac178 263
ParinyaT 14:1c3180c64272 264 uint8_t Bear_Receiver::sendOffset(uint8_t id,uint8_t *Offset)
b0ssiz 8:2d34916ac178 265 {
b0ssiz 8:2d34916ac178 266 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 8:2d34916ac178 267
b0ssiz 8:2d34916ac178 268 package.robotId = id;
b0ssiz 8:2d34916ac178 269 package.length = 10;
b0ssiz 8:2d34916ac178 270 package.instructionErrorId = WRITE_DATA;
ParinyaT 14:1c3180c64272 271 package.parameter[0]=Offset[0];
ParinyaT 14:1c3180c64272 272 package.parameter[1]=Offset[1];
ParinyaT 14:1c3180c64272 273 package.parameter[2]=Offset[2];
ParinyaT 14:1c3180c64272 274 package.parameter[3]=Offset[3];
ParinyaT 14:1c3180c64272 275 package.parameter[4]=Offset[4];
ParinyaT 14:1c3180c64272 276 package.parameter[5]=Offset[5];
ParinyaT 14:1c3180c64272 277 package.parameter[6]=Offset[6];
ParinyaT 14:1c3180c64272 278 package.parameter[7]=Offset[7];
b0ssiz 8:2d34916ac178 279
b0ssiz 8:2d34916ac178 280 rs485_dirc=1;
b0ssiz 8:2d34916ac178 281 wait_us(RS485_DELAY);
b0ssiz 8:2d34916ac178 282 return com->sendCommunicatePacket(&package);
b0ssiz 8:2d34916ac178 283 }
b0ssiz 8:2d34916ac178 284
ParinyaT 14:1c3180c64272 285 uint8_t Bear_Receiver::sendBodyWidth(uint8_t id,uint8_t *BodyWidth)
b0ssiz 8:2d34916ac178 286 {
b0ssiz 8:2d34916ac178 287 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 8:2d34916ac178 288
b0ssiz 8:2d34916ac178 289 package.robotId = id;
b0ssiz 8:2d34916ac178 290 package.length = 6;
b0ssiz 8:2d34916ac178 291 package.instructionErrorId = WRITE_DATA;
ParinyaT 14:1c3180c64272 292 package.parameter[0]=BodyWidth[0];
ParinyaT 14:1c3180c64272 293 package.parameter[1]=BodyWidth[1];
ParinyaT 14:1c3180c64272 294 package.parameter[2]=BodyWidth[2];
ParinyaT 14:1c3180c64272 295 package.parameter[3]=BodyWidth[3];
b0ssiz 8:2d34916ac178 296
b0ssiz 8:2d34916ac178 297 rs485_dirc=1;
b0ssiz 8:2d34916ac178 298 wait_us(RS485_DELAY);
b0ssiz 8:2d34916ac178 299 return com->sendCommunicatePacket(&package);
b0ssiz 8:2d34916ac178 300 }
b0ssiz 8:2d34916ac178 301
ParinyaT 14:1c3180c64272 302 uint8_t Bear_Receiver::sendUpAngleRange(uint8_t id,uint8_t *Angle)
b0ssiz 11:b9337e23782e 303 {
b0ssiz 11:b9337e23782e 304 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 11:b9337e23782e 305
b0ssiz 11:b9337e23782e 306 package.robotId = id;
b0ssiz 11:b9337e23782e 307 package.length = 10;
b0ssiz 11:b9337e23782e 308 package.instructionErrorId = WRITE_DATA;
ParinyaT 14:1c3180c64272 309 package.parameter[0]=Angle[0];
ParinyaT 14:1c3180c64272 310 package.parameter[1]=Angle[1];
ParinyaT 14:1c3180c64272 311 package.parameter[2]=Angle[2];
ParinyaT 14:1c3180c64272 312 package.parameter[3]=Angle[3];
ParinyaT 14:1c3180c64272 313 package.parameter[4]=Angle[4];
ParinyaT 14:1c3180c64272 314 package.parameter[5]=Angle[5];
ParinyaT 14:1c3180c64272 315 package.parameter[6]=Angle[6];
ParinyaT 14:1c3180c64272 316 package.parameter[7]=Angle[7];
b0ssiz 11:b9337e23782e 317
b0ssiz 11:b9337e23782e 318 rs485_dirc=1;
b0ssiz 11:b9337e23782e 319 wait_us(RS485_DELAY);
b0ssiz 11:b9337e23782e 320 return com->sendCommunicatePacket(&package);
b0ssiz 11:b9337e23782e 321 }
b0ssiz 11:b9337e23782e 322
b0ssiz 11:b9337e23782e 323
ParinyaT 14:1c3180c64272 324 uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,uint8_t *Angle)
b0ssiz 8:2d34916ac178 325 {
b0ssiz 8:2d34916ac178 326 ANDANTE_PROTOCOL_PACKET package;
b0ssiz 8:2d34916ac178 327
b0ssiz 8:2d34916ac178 328 package.robotId = id;
b0ssiz 8:2d34916ac178 329 package.length = 10;
b0ssiz 8:2d34916ac178 330 package.instructionErrorId = WRITE_DATA;
ParinyaT 14:1c3180c64272 331 package.parameter[0]=Angle[0];
ParinyaT 14:1c3180c64272 332 package.parameter[1]=Angle[1];
ParinyaT 14:1c3180c64272 333 package.parameter[2]=Angle[2];
ParinyaT 14:1c3180c64272 334 package.parameter[3]=Angle[3];
ParinyaT 14:1c3180c64272 335 package.parameter[4]=Angle[4];
ParinyaT 14:1c3180c64272 336 package.parameter[5]=Angle[5];
ParinyaT 14:1c3180c64272 337 package.parameter[6]=Angle[6];
ParinyaT 14:1c3180c64272 338 package.parameter[7]=Angle[7];
b0ssiz 8:2d34916ac178 339
b0ssiz 8:2d34916ac178 340 rs485_dirc=1;
b0ssiz 8:2d34916ac178 341 wait_us(RS485_DELAY);
b0ssiz 8:2d34916ac178 342 return com->sendCommunicatePacket(&package);
b0ssiz 6:f6529ad2a70d 343 }