File content as of revision 11:b9337e23782e:

#include "mbed.h"
#include "Receiver.h"


DigitalOut rs485_dirc(RS485_DIRC);

Bear_Receiver::Bear_Receiver(PinName tx,PinName rx,int baudrate)
{
    com = new COMMUNICATION(tx,rx,baudrate);
}

uint8_t Bear_Receiver::ReceiveCommand(uint8_t *id,uint8_t *data_array,uint8_t *ins)
{
    ANDANTE_PROTOCOL_PACKET package;

    rs485_dirc=0;
    wait_us(RS485_DELAY);
    uint8_t status = com->receiveCommunicatePacket(&package);

    if(status == ANDANTE_ERRBIT_NONE) {

        *id = package.robotId;
        data_array = package.parameter;
        *ins=package.instructionErrorId;

    }
    return status;
}





void Bear_Receiver::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array)
{
    float float_buffer;
    float int_buffer;
    int16_t integer;
    int16_t floating_point;

    float_buffer=modf(input_float,&int_buffer);
    float_buffer*=FLOAT_CONVERTER;
    integer=(int16_t)int_buffer;
    floating_point=(int16_t)float_buffer;
    Utilities::ConvertInt16ToUInt8Array(integer,int_data_array);
    Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array);
}




uint8_t Bear_Receiver::sendMotorPos(uint8_t id,float up_angle,float low_angle)
{
    uint8_t IntUpAngle[2],FloatUpAngle[2];
    uint8_t IntLowAngle[2],FloatLowAngle[2];
    FloatSep(up_angle,IntUpAngle,FloatUpAngle);
    FloatSep(low_angle,IntLowAngle,FloatLowAngle);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 10;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntUpAngle[0];
    package.parameter[1]=IntUpAngle[1];
    package.parameter[2]=FloatUpAngle[0];
    package.parameter[3]=FloatUpAngle[1];
    package.parameter[4]=IntLowAngle[0];
    package.parameter[5]=IntLowAngle[1];
    package.parameter[6]=FloatLowAngle[0];
    package.parameter[7]=FloatLowAngle[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);


}



uint8_t Bear_Receiver::sendUpMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd)
{
    uint8_t IntKp[2],FloatKp[2];
    uint8_t IntKi[2],FloatKi[2];
    uint8_t IntKd[2],FloatKd[2];

    FloatSep(Kp,IntKp,FloatKp);
    FloatSep(Ki,IntKi,FloatKi);
    FloatSep(Kd,IntKd,FloatKd);


    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 14;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntKp[0];
    package.parameter[1]=IntKp[1];
    package.parameter[2]=FloatKp[0];
    package.parameter[3]=FloatKp[1];
    package.parameter[4]=IntKi[0];
    package.parameter[5]=IntKi[1];
    package.parameter[6]=FloatKi[0];
    package.parameter[7]=FloatKi[1];
    package.parameter[8]=IntKd[0];
    package.parameter[9]=IntKd[1];
    package.parameter[10]=FloatKd[0];
    package.parameter[11]=FloatKd[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);
}




uint8_t Bear_Receiver::sendLowMotorKpKiKd(uint8_t id,float Kp,float Ki,float Kd)
{
    uint8_t IntKp[2],FloatKp[2];
    uint8_t IntKi[2],FloatKi[2];
    uint8_t IntKd[2],FloatKd[2];

    FloatSep(Kp,IntKp,FloatKp);
    FloatSep(Ki,IntKi,FloatKi);
    FloatSep(Kd,IntKd,FloatKd);


    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 14;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntKp[0];
    package.parameter[1]=IntKp[1];
    package.parameter[2]=FloatKp[0];
    package.parameter[3]=FloatKp[1];
    package.parameter[4]=IntKi[0];
    package.parameter[5]=IntKi[1];
    package.parameter[6]=FloatKi[0];
    package.parameter[7]=FloatKi[1];
    package.parameter[8]=IntKd[0];
    package.parameter[9]=IntKd[1];
    package.parameter[10]=FloatKd[0];
    package.parameter[11]=FloatKd[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);
}



uint8_t Bear_Receiver::sendMargin(uint8_t id,float margin)
{
    uint8_t IntMargin[2],FloatMargin[2];
    FloatSep(margin,IntMargin,FloatMargin);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 6;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntMargin[0];
    package.parameter[1]=IntMargin[1];
    package.parameter[2]=FloatMargin[0];
    package.parameter[3]=FloatMargin[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);

}

uint8_t Bear_Receiver::sendHeight(uint8_t id,float height)
{
    uint8_t IntHeight[2],FloatHeight[2];
    FloatSep(height,IntHeight,FloatHeight);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 6;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntHeight[0];
    package.parameter[1]=IntHeight[1];
    package.parameter[2]=FloatHeight[0];
    package.parameter[3]=FloatHeight[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);
}

uint8_t Bear_Receiver::sendWheelPos(uint8_t id,float WheelPos)
{
    uint8_t IntWheelPos[2],FloatWheelPos[2];
    FloatSep(WheelPos,IntWheelPos,FloatWheelPos);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 6;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntWheelPos[0];
    package.parameter[1]=IntWheelPos[1];
    package.parameter[2]=FloatWheelPos[0];
    package.parameter[3]=FloatWheelPos[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);
}

uint8_t Bear_Receiver::sendMagData(uint8_t id,float x_max,float x_min,float y_max,float y_min,float z_max,float z_min)
{
    uint8_t IntXmax[2],FloatXmax[2];
    uint8_t IntXmin[2],FloatXmin[2];
    uint8_t IntYmax[2],FloatYmax[2];
    uint8_t IntYmin[2],FloatYmin[2];
    uint8_t IntZmax[2],FloatZmax[2];
    uint8_t IntZmin[2],FloatZmin[2];
    FloatSep(x_max,IntXmax,FloatXmax);
    FloatSep(x_min,IntXmin,FloatXmin);
    FloatSep(y_max,IntYmax,FloatYmax);
    FloatSep(y_min,IntYmin,FloatYmin);
    FloatSep(z_max,IntZmax,FloatZmax);
    FloatSep(z_min,IntZmin,FloatZmin);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 26;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntXmax[0];
    package.parameter[1]=IntXmax[1];
    package.parameter[2]=FloatXmax[0];
    package.parameter[3]=FloatXmax[1];
    package.parameter[4]=IntXmin[0];
    package.parameter[5]=IntXmin[1];
    package.parameter[6]=FloatXmin[0];
    package.parameter[7]=FloatXmin[1];
    package.parameter[8]=IntYmax[0];
    package.parameter[9]=IntYmax[1];
    package.parameter[10]=FloatYmax[0];
    package.parameter[11]=FloatYmax[1];
    package.parameter[12]=IntYmin[0];
    package.parameter[13]=IntYmin[1];
    package.parameter[14]=FloatYmin[0];
    package.parameter[15]=FloatYmin[1];
    package.parameter[16]=IntZmax[0];
    package.parameter[17]=IntZmax[1];
    package.parameter[18]=FloatZmax[0];
    package.parameter[19]=FloatZmax[1];
    package.parameter[20]=IntZmin[0];
    package.parameter[21]=IntZmin[1];
    package.parameter[22]=FloatZmin[0];
    package.parameter[23]=FloatZmin[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);
}

uint8_t Bear_Receiver::sendOffset(uint8_t id,float offset_y,float offset_z)
{
    uint8_t IntOffset_Y[2],FloatOffset_Y[2];
    uint8_t IntOffset_Z[2],FloatOffset_Z[2];
    FloatSep(offset_y,IntOffset_Y,FloatOffset_Y);
    FloatSep(offset_z,IntOffset_Z,FloatOffset_Z);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 10;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntOffset_Y[0];
    package.parameter[1]=IntOffset_Y[1];
    package.parameter[2]=FloatOffset_Y[0];
    package.parameter[3]=FloatOffset_Y[1];
    package.parameter[4]=IntOffset_Z[0];
    package.parameter[5]=IntOffset_Z[1];
    package.parameter[6]=FloatOffset_Z[0];
    package.parameter[7]=FloatOffset_Z[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);
}

uint8_t Bear_Receiver::sendBodyLength(uint8_t id,float body_length)
{
    uint8_t IntBodyLength[2],FloatBodyLength[2];
    FloatSep(body_length,IntBodyLength,FloatBodyLength);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 6;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntBodyLength[0];
    package.parameter[1]=IntBodyLength[1];
    package.parameter[2]=FloatBodyLength[0];
    package.parameter[3]=FloatBodyLength[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);
}

uint8_t Bear_Receiver::sendUpAngleRange(uint8_t id,float max_angle,float min_angle)
{
    uint8_t IntMaxAngle[2],FloatMaxAngle[2];
    uint8_t IntMinAngle[2],FloatMinAngle[2];
    FloatSep(max_angle,IntMaxAngle,FloatMaxAngle);
    FloatSep(min_angle,IntMinAngle,FloatMinAngle);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 10;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntMaxAngle[0];
    package.parameter[1]=IntMaxAngle[1];
    package.parameter[2]=FloatMaxAngle[0];
    package.parameter[3]=FloatMaxAngle[1];
    package.parameter[4]=IntMinAngle[0];
    package.parameter[5]=IntMinAngle[1];
    package.parameter[6]=FloatMinAngle[0];
    package.parameter[7]=FloatMinAngle[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);
}


uint8_t Bear_Receiver::sendLowAngleRange(uint8_t id,float max_angle,float min_angle)
{
    uint8_t IntMaxAngle[2],FloatMaxAngle[2];
    uint8_t IntMinAngle[2],FloatMinAngle[2];
    FloatSep(max_angle,IntMaxAngle,FloatMaxAngle);
    FloatSep(min_angle,IntMinAngle,FloatMinAngle);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 10;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=IntMaxAngle[0];
    package.parameter[1]=IntMaxAngle[1];
    package.parameter[2]=FloatMaxAngle[0];
    package.parameter[3]=FloatMaxAngle[1];
    package.parameter[4]=IntMinAngle[0];
    package.parameter[5]=IntMinAngle[1];
    package.parameter[6]=FloatMinAngle[0];
    package.parameter[7]=FloatMinAngle[1];

    rs485_dirc=1;
    wait_us(RS485_DELAY);
    return com->sendCommunicatePacket(&package);
}