Secret_Betago / BEAR_Reciever

update protocol.h

Dependencies:   Communication_Robot

Fork of BEAR_Reciever by BE@R lab

Receiver.h

Committer:
b0ssiz
Date:
2016-01-21
Revision:
8:2d34916ac178
Parent:
7:a0ea8c127611
Child:
10:c9bc32595d56

File content as of revision 8:2d34916ac178:

#include "mbed.h"
#include "iSerial.h"
#include "Command.h"
#include "communication.h"
#define RS485_DELAY 90
#define RS485_DIRC PB_5
#define FLOAT_CONVERTER 10000

class Bear_Receiver
{
private:
    COMMUNICATION *com;

public:
    Bear_Receiver(PinName,PinName,int);
    void FloatSep(float,uint8_t*,uint8_t*);

    //Receiver
    uint8_t ReceiveCommand(uint8_t*,uint8_t*,uint8_t*);
    //Sender
    uint8_t sendMotorPos(uint8_t,float,float);
    uint8_t sendUpMotorKpKiKd(uint8_t,float,float,float);
    uint8_t sendLowMotorKpKiKd(uint8_t,float,float,float);
    uint8_t sendMargin(uint8_t,float);
    uint8_t sendHeight(uint8_t,float);
    uint8_t sendWheelPos(uint8_t,float);
    uint8_t sendMagData(uint8_t,float,float,float,float,float,float);
    uint8_t sendOffset(uint8_t,float,float);
    uint8_t sendBodyLength(uint8_t,float);
    uint8_t sendAngleRange(uint8_t,float,float);
};