Secret_Betago / Communication_Robot_V22

สัสชิน

Fork of Communication_Robot by phirawat rattanachote

Receiver.h@15:6c5d44c34264, 2016-06-08 (annotated)

Committer:
icyzkungz
Date:
Wed Jun 08 17:17:59 2016 +0000
Revision:
15:6c5d44c34264
Parent:
14:cf43df0ddb93 
??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
palmdotax 11:3c11a0355a3e 1 #ifndef __RECEIVER__H_
palmdotax 11:3c11a0355a3e 2 #define __RECEIVER__H_
palmdotax 11:3c11a0355a3e 3
palmdotax 11:3c11a0355a3e 4 #include "mbed.h"
palmdotax 11:3c11a0355a3e 5 #include "iSerial.h"
palmdotax 11:3c11a0355a3e 6 #include "Command.h"
palmdotax 11:3c11a0355a3e 7 #include "communication.h"
icyzkungz 15:6c5d44c34264 8
icyzkungz 15:6c5d44c34264 9 #include "rplidar.h"
icyzkungz 15:6c5d44c34264 10
palmdotax 11:3c11a0355a3e 11 #define RS485_DELAY 90
palmdotax 12:3a814b754785 12 //#define RS485_DIRC PB_5
palmdotax 11:3c11a0355a3e 13 #define FLOAT_CONVERTER 10000
palmdotax 11:3c11a0355a3e 14
palmdotax 11:3c11a0355a3e 15 class Bear_Receiver
palmdotax 11:3c11a0355a3e 16 {
palmdotax 11:3c11a0355a3e 17 private:
palmdotax 11:3c11a0355a3e 18 COMMUNICATION *com;
icyzkungz 15:6c5d44c34264 19 RPLidar lidar1;
icyzkungz 15:6c5d44c34264 20 Timer sync_lidar;
palmdotax 11:3c11a0355a3e 21 public:
palmdotax 11:3c11a0355a3e 22 Bear_Receiver(PinName,PinName,int);
palmdotax 11:3c11a0355a3e 23 void FloatSep(float,uint8_t*,uint8_t*);
palmdotax 11:3c11a0355a3e 24
palmdotax 11:3c11a0355a3e 25 //Receiver
palmdotax 11:3c11a0355a3e 26 uint8_t ReceiveCommand(uint8_t*,uint8_t*,uint8_t*);
palmdotax 11:3c11a0355a3e 27 //Sender
palmdotax 11:3c11a0355a3e 28 uint8_t sendMotorPos(uint8_t,float,float);
palmdotax 11:3c11a0355a3e 29 uint8_t sendUpMotorKpKiKd(uint8_t,float,float,float);
palmdotax 11:3c11a0355a3e 30 uint8_t sendLowMotorKpKiKd(uint8_t,float,float,float);
palmdotax 11:3c11a0355a3e 31 uint8_t sendUpMargin(uint8_t,float);
palmdotax 11:3c11a0355a3e 32 uint8_t sendLowMargin(uint8_t,float);
palmdotax 11:3c11a0355a3e 33 uint8_t sendHeight(uint8_t,uint8_t*);
palmdotax 11:3c11a0355a3e 34 uint8_t sendWheelPos(uint8_t,uint8_t*);
palmdotax 11:3c11a0355a3e 35 uint8_t sendMagData(uint8_t,uint8_t*);
palmdotax 11:3c11a0355a3e 36 uint8_t sendOffset(uint8_t,uint8_t*);
palmdotax 11:3c11a0355a3e 37 uint8_t sendBodyWidth(uint8_t,uint8_t*);
palmdotax 11:3c11a0355a3e 38 uint8_t sendUpAngleRange(uint8_t,uint8_t*);
palmdotax 11:3c11a0355a3e 39 uint8_t sendLowAngleRange(uint8_t,uint8_t*);
palmdotax 11:3c11a0355a3e 40 uint8_t sendUpLinkLength(uint8_t,uint8_t*);
palmdotax 11:3c11a0355a3e 41 uint8_t sendLowLinkLength(uint8_t,uint8_t*);
icyzkungz 15:6c5d44c34264 42
icyzkungz 15:6c5d44c34264 43 void UpdateLidar();
icyzkungz 15:6c5d44c34264 44 uint8_t sendlidar(RPLidar &rplidar1);
icyzkungz 15:6c5d44c34264 45 uint8_t sendlidar2(RPLidar &rplidar1);
icyzkungz 15:6c5d44c34264 46 uint8_t sendlidar3(RPLidar &rplidar1);
icyzkungz 15:6c5d44c34264 47 uint8_t sendlidar4(RPLidar &rplidar1);
icyzkungz 15:6c5d44c34264 48 uint8_t sendlidar5(RPLidar &rplidar1);
icyzkungz 15:6c5d44c34264 49 uint8_t sendlidar6(RPLidar &rplidar1);
palmdotax 11:3c11a0355a3e 50 };
palmdotax 11:3c11a0355a3e 51
palmdotax 11:3c11a0355a3e 52 #endif