Secret_Betago / Mbed 2 deprecated Low_Level

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Dependencies:   BEAR_Reciever Motor eeprom iSerial mbed

Fork of BEAR_Motion by BE@R lab

main.cpp@26:fbccc263a588, 2016-01-26 (annotated)

Committer:
soulx
Date:
Tue Jan 26 18:45:22 2016 +0000
Revision:
26:fbccc263a588
Parent:
25:c66a0d029e1f
Child:
27:718fc94e40ad
delete offset

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ParinyaT 0:451c27e4d55e 1 //*****************************************************/
b0ssiz 6:98871feebea0 2 // Include //
ParinyaT 0:451c27e4d55e 3 #include "mbed.h"
ParinyaT 0:451c27e4d55e 4 #include "pinconfig.h"
ParinyaT 0:451c27e4d55e 5 #include "PID.h"
ParinyaT 0:451c27e4d55e 6 #include "Motor.h"
ParinyaT 0:451c27e4d55e 7 #include "eeprom.h"
b0ssiz 6:98871feebea0 8 #include "Receiver.h"
b0ssiz 22:449f31da2d3d 9 #include "Motion_EEPROM_Address.h"
ParinyaT 0:451c27e4d55e 10
ParinyaT 0:451c27e4d55e 11 //*****************************************************/
ParinyaT 1:84167ca00307 12 //--PID parameter--
ParinyaT 1:84167ca00307 13 //-Upper-//
b0ssiz 10:3b3d6bc88677 14 float U_Kc;
b0ssiz 10:3b3d6bc88677 15 float U_Ti;
b0ssiz 10:3b3d6bc88677 16 float U_Td;
ParinyaT 16:c0a1daeb9fa5 17 float U_Ki=U_Kc*U_Ti;
ParinyaT 16:c0a1daeb9fa5 18 float U_Kd=U_Kc*U_Td;
ParinyaT 1:84167ca00307 19 //-lower-//
b0ssiz 10:3b3d6bc88677 20 float L_Kc;
b0ssiz 10:3b3d6bc88677 21 float L_Ti;
b0ssiz 10:3b3d6bc88677 22 float L_Td;
ParinyaT 16:c0a1daeb9fa5 23 float L_Ki=L_Kc*L_Ti;
ParinyaT 16:c0a1daeb9fa5 24 float L_Kd=L_Kc*L_Td;
ParinyaT 0:451c27e4d55e 25 //*****************************************************/
ParinyaT 0:451c27e4d55e 26 // Global //
ParinyaT 11:3dd92d1d542c 27 Ticker Recieve;
ParinyaT 1:84167ca00307 28 //-- Communication --
ParinyaT 0:451c27e4d55e 29 Serial PC(D1,D0);
b0ssiz 17:4c96838e579f 30 Bear_Receiver com(Tx,Rx,1000000);
b0ssiz 14:28e24fcc5a01 31 int16_t MY_ID = 0x01;
ParinyaT 11:3dd92d1d542c 32 //-- Memorry --
ParinyaT 11:3dd92d1d542c 33 EEPROM memory(PB_4,PA_8,0);
b0ssiz 14:28e24fcc5a01 34 uint8_t UpMargin[4];
b0ssiz 14:28e24fcc5a01 35 uint8_t LowMargin[4];
ParinyaT 13:49cb002ad8fd 36 uint8_t Height[4];
ParinyaT 13:49cb002ad8fd 37 uint8_t Wheelpos[4];
ParinyaT 13:49cb002ad8fd 38 uint8_t Mag[24];
soulx 26:fbccc263a588 39 uint8_t Offset[8];//={1,2,3,4,5,6,7,8};
b0ssiz 14:28e24fcc5a01 40 uint8_t Body_width[4];
ParinyaT 16:c0a1daeb9fa5 41 uint8_t Angle_Range_Up[8];
ParinyaT 16:c0a1daeb9fa5 42 uint8_t Angle_Range_Low[8];
b0ssiz 22:449f31da2d3d 43 uint8_t UpLinkLength[4];
b0ssiz 22:449f31da2d3d 44 uint8_t LowLinkLength[4];
b0ssiz 6:98871feebea0 45 //-- encoder --
ParinyaT 13:49cb002ad8fd 46 float up_angle,low_angle;
ParinyaT 1:84167ca00307 47 int Upper_Position;
ParinyaT 1:84167ca00307 48 int Lower_Position;
ParinyaT 0:451c27e4d55e 49 int data;
ParinyaT 1:84167ca00307 50 SPI ENC(Emosi, Emiso, Esck);
ParinyaT 1:84167ca00307 51 DigitalOut EncA(EncoderA);
ParinyaT 1:84167ca00307 52 DigitalOut EncB(EncoderB);
ParinyaT 0:451c27e4d55e 53 //-- Motor --
ParinyaT 1:84167ca00307 54 int dir;
ParinyaT 1:84167ca00307 55 Motor Upper(PWM_LU,A_LU,B_LU);
ParinyaT 1:84167ca00307 56 Motor Lower(PWM_LL,A_LL,B_LL);
ParinyaT 0:451c27e4d55e 57 //-- PID --
ParinyaT 1:84167ca00307 58 int Upper_SetPoint;
ParinyaT 1:84167ca00307 59 int Lower_SetPoint;
ParinyaT 1:84167ca00307 60 PID Up_PID(U_Kc, U_Ti, U_Td, 0.001);//Kp,Ki,Kd,Rate
ParinyaT 1:84167ca00307 61 PID Low_PID(L_Kc, L_Ti, L_Td, 0.001);
ParinyaT 0:451c27e4d55e 62 //*****************************************************/
soulx 20:7e6d56655336 63
soulx 20:7e6d56655336 64 DigitalOut myled(LED1);
soulx 20:7e6d56655336 65
soulx 20:7e6d56655336 66
ParinyaT 1:84167ca00307 67 void Read_Encoder(PinName Encoder)
ParinyaT 0:451c27e4d55e 68 {
soulx 7:bf239d051e8c 69 ENC.format(8,0);
soulx 7:bf239d051e8c 70 ENC.frequency(200000);//due to rising time,have to decrease clock from 1M - 240k
b0ssiz 6:98871feebea0 71
soulx 7:bf239d051e8c 72 if(Encoder == EncoderA) {
soulx 7:bf239d051e8c 73 EncA = 0;
soulx 7:bf239d051e8c 74 } else {
soulx 7:bf239d051e8c 75 EncB = 0;
soulx 7:bf239d051e8c 76 }
soulx 7:bf239d051e8c 77 ENC.write(0x41);
soulx 7:bf239d051e8c 78 ENC.write(0x09);
soulx 7:bf239d051e8c 79 data = ENC.write(0x00);
soulx 7:bf239d051e8c 80 if(Encoder == EncoderA) {
soulx 7:bf239d051e8c 81 EncA = 1;
soulx 7:bf239d051e8c 82 } else {
soulx 7:bf239d051e8c 83 EncB = 1;
soulx 7:bf239d051e8c 84 }
b0ssiz 6:98871feebea0 85
ParinyaT 0:451c27e4d55e 86 }
ParinyaT 0:451c27e4d55e 87 //*****************************************************/
ParinyaT 1:84167ca00307 88 int Get_EnValue(int Val)
ParinyaT 0:451c27e4d55e 89 {
ParinyaT 0:451c27e4d55e 90 int i = 0;
ParinyaT 0:451c27e4d55e 91 static unsigned char codes[] = {
b0ssiz 6:98871feebea0 92 127, 63, 62, 58, 56, 184, 152, 24, 8, 72, 73, 77, 79, 15, 47, 175,
b0ssiz 6:98871feebea0 93 191, 159, 31, 29, 28, 92, 76, 12, 4, 36, 164, 166, 167, 135, 151, 215,
b0ssiz 6:98871feebea0 94 223, 207, 143, 142, 14, 46, 38, 6, 2, 18, 82, 83, 211, 195, 203, 235,
b0ssiz 6:98871feebea0 95 239, 231, 199, 71, 7, 23, 19, 3, 1, 9, 41, 169, 233, 225, 229, 245,
b0ssiz 6:98871feebea0 96 247, 243, 227, 163, 131, 139, 137, 129, 128, 132, 148, 212, 244, 240, 242, 250,
b0ssiz 6:98871feebea0 97 251, 249, 241, 209, 193, 197, 196, 192, 64, 66, 74, 106, 122, 120, 121, 125,
b0ssiz 6:98871feebea0 98 253, 252, 248, 232, 224, 226, 98, 96, 32, 33, 37, 53, 61, 60, 188, 190,
b0ssiz 6:98871feebea0 99 254, 126, 124, 116, 112, 113, 49, 48, 16, 144, 146, 154, 158, 30, 94, 95
b0ssiz 6:98871feebea0 100 };
b0ssiz 6:98871feebea0 101
b0ssiz 6:98871feebea0 102 while(Val != codes[i]) {
ParinyaT 1:84167ca00307 103 i++;
ParinyaT 0:451c27e4d55e 104 }
b0ssiz 6:98871feebea0 105
ParinyaT 1:84167ca00307 106 return i;
b0ssiz 6:98871feebea0 107
ParinyaT 0:451c27e4d55e 108 }
ParinyaT 0:451c27e4d55e 109 //*****************************************************/
ParinyaT 1:84167ca00307 110 void SET_UpperPID()
ParinyaT 1:84167ca00307 111 {
ParinyaT 1:84167ca00307 112 Upper.period(0.001);
ParinyaT 1:84167ca00307 113 Up_PID.setMode(0);
ParinyaT 1:84167ca00307 114 Up_PID.setInputLimits(0,127);
ParinyaT 1:84167ca00307 115 Up_PID.setOutputLimits(0,1);
ParinyaT 1:84167ca00307 116 }
ParinyaT 1:84167ca00307 117 //******************************************************/
ParinyaT 1:84167ca00307 118 void SET_LowerPID()
ParinyaT 1:84167ca00307 119 {
ParinyaT 1:84167ca00307 120 Lower.period(0.001);
ParinyaT 1:84167ca00307 121 Low_PID.setMode(0);
b0ssiz 10:3b3d6bc88677 122 Low_PID.setInputLimits(0,127); // set range
ParinyaT 1:84167ca00307 123 Low_PID.setOutputLimits(0,1);
ParinyaT 1:84167ca00307 124 }
b0ssiz 6:98871feebea0 125 //******************************************************/
ParinyaT 1:84167ca00307 126 void Move_Upper()
ParinyaT 1:84167ca00307 127 {
ParinyaT 1:84167ca00307 128 Read_Encoder(EncoderA);
ParinyaT 1:84167ca00307 129 Upper_Position = Get_EnValue(data);
ParinyaT 1:84167ca00307 130
ParinyaT 1:84167ca00307 131 Up_PID.setProcessValue(Upper_Position);
b0ssiz 6:98871feebea0 132
soulx 7:bf239d051e8c 133 if(Upper_Position - Upper_SetPoint > 0 ) {
ParinyaT 1:84167ca00307 134 dir = 1;
b0ssiz 6:98871feebea0 135 }
soulx 7:bf239d051e8c 136 if(Upper_Position - Upper_SetPoint < 0 ) {
ParinyaT 1:84167ca00307 137 dir = -1;
b0ssiz 6:98871feebea0 138 }
soulx 7:bf239d051e8c 139 Upper.speed(Up_PID.compute() * dir);
ParinyaT 1:84167ca00307 140 }
ParinyaT 1:84167ca00307 141 //******************************************************/
ParinyaT 1:84167ca00307 142 void Move_Lower()
ParinyaT 1:84167ca00307 143 {
ParinyaT 1:84167ca00307 144 Read_Encoder(EncoderB);
ParinyaT 1:84167ca00307 145 Lower_Position = Get_EnValue(data);
ParinyaT 1:84167ca00307 146
ParinyaT 1:84167ca00307 147 Low_PID.setProcessValue(Lower_Position);
b0ssiz 6:98871feebea0 148
b0ssiz 6:98871feebea0 149 if(Lower_Position - Lower_SetPoint > 0 ) {
ParinyaT 1:84167ca00307 150 dir = 1;
b0ssiz 6:98871feebea0 151 }
b0ssiz 6:98871feebea0 152 if(Lower_Position - Lower_SetPoint < 0 ) {
ParinyaT 1:84167ca00307 153 dir = -1;
b0ssiz 6:98871feebea0 154 }
soulx 7:bf239d051e8c 155 Lower.speed(Low_PID.compute() * dir);
b0ssiz 6:98871feebea0 156 }
ParinyaT 1:84167ca00307 157 //******************************************************/
ParinyaT 1:84167ca00307 158
b0ssiz 15:6ebca0a1aaca 159 void CmdCheck(int16_t id,uint8_t *cmd,uint8_t ins)
b0ssiz 10:3b3d6bc88677 160 {
b0ssiz 14:28e24fcc5a01 161 if(id==MY_ID) {
b0ssiz 14:28e24fcc5a01 162 switch (ins) {
b0ssiz 14:28e24fcc5a01 163 case PING: {
soulx 18:face01c94152 164 break;
b0ssiz 14:28e24fcc5a01 165 }
b0ssiz 14:28e24fcc5a01 166 case WRITE_DATA: {
b0ssiz 14:28e24fcc5a01 167 switch (cmd[0]) {
b0ssiz 14:28e24fcc5a01 168 case ID: {
soulx 18:face01c94152 169 ///
soulx 18:face01c94152 170 MY_ID = (int16_t)cmd[1];
soulx 18:face01c94152 171 break;
b0ssiz 14:28e24fcc5a01 172 }
b0ssiz 14:28e24fcc5a01 173 case MOTOR_UPPER_ANG: {
b0ssiz 14:28e24fcc5a01 174 uint8_t IntUpAngle[2],FloatUpAngle[2];
b0ssiz 14:28e24fcc5a01 175 uint8_t IntLowAngle[2],FloatLowAngle[2];
b0ssiz 14:28e24fcc5a01 176 float int_buffer,float_buffer;
b0ssiz 14:28e24fcc5a01 177
b0ssiz 14:28e24fcc5a01 178 IntUpAngle[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 179 IntUpAngle[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 180 FloatUpAngle[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 181 FloatUpAngle[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 182 int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntUpAngle);
b0ssiz 14:28e24fcc5a01 183 float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatUpAngle)/FLOAT_CONVERTER;
b0ssiz 14:28e24fcc5a01 184 up_angle=int_buffer+float_buffer;
b0ssiz 14:28e24fcc5a01 185
b0ssiz 14:28e24fcc5a01 186 IntLowAngle[0]=cmd[5];
b0ssiz 14:28e24fcc5a01 187 IntLowAngle[1]=cmd[6];
b0ssiz 14:28e24fcc5a01 188 FloatLowAngle[0]=cmd[7];
b0ssiz 14:28e24fcc5a01 189 FloatLowAngle[1]=cmd[8];
b0ssiz 14:28e24fcc5a01 190 int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntLowAngle);
b0ssiz 14:28e24fcc5a01 191 float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatLowAngle)/FLOAT_CONVERTER;
soulx 18:face01c94152 192 low_angle=int_buffer+float_buffer;
soulx 18:face01c94152 193 break;
b0ssiz 14:28e24fcc5a01 194 }
b0ssiz 14:28e24fcc5a01 195 case UP_MARGIN: {
b0ssiz 14:28e24fcc5a01 196 int i;
b0ssiz 14:28e24fcc5a01 197 for(i=0; i<4; i++) {
b0ssiz 14:28e24fcc5a01 198 UpMargin[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 199 }
soulx 18:face01c94152 200 break;
b0ssiz 14:28e24fcc5a01 201 }
b0ssiz 14:28e24fcc5a01 202 case LOW_MARGIN: {
b0ssiz 14:28e24fcc5a01 203 int i;
b0ssiz 14:28e24fcc5a01 204 for(i=0; i<4; i++) {
b0ssiz 14:28e24fcc5a01 205 LowMargin[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 206 }
soulx 18:face01c94152 207 break;
b0ssiz 14:28e24fcc5a01 208 }
b0ssiz 14:28e24fcc5a01 209 case KP_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 210 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 211 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 212 float Int,Float;
b0ssiz 14:28e24fcc5a01 213 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 214 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 215 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 216 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 217 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 218 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 219 U_Kc=Int+Float;
soulx 18:face01c94152 220 break;
b0ssiz 14:28e24fcc5a01 221 }
b0ssiz 14:28e24fcc5a01 222 case KI_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 223 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 224 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 225 float Int,Float,KI;
b0ssiz 14:28e24fcc5a01 226 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 227 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 228 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 229 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 230 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 231 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 232 KI=Int+Float;
b0ssiz 14:28e24fcc5a01 233 U_Ti=KI/U_Kc;
soulx 18:face01c94152 234 break;
b0ssiz 14:28e24fcc5a01 235 }
b0ssiz 14:28e24fcc5a01 236 case KD_UPPER_MOTOR: {
b0ssiz 14:28e24fcc5a01 237 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 238 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 239 float Int,Float,KD;
b0ssiz 14:28e24fcc5a01 240 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 241 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 242 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 243 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 244 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 245 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 246 KD=Int+Float;
b0ssiz 14:28e24fcc5a01 247 U_Td=KD/U_Kc;
soulx 18:face01c94152 248 break;
b0ssiz 14:28e24fcc5a01 249 }
b0ssiz 14:28e24fcc5a01 250 case KP_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 251 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 252 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 253 float Int,Float;
b0ssiz 14:28e24fcc5a01 254 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 255 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 256 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 257 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 258 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 259 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 260 L_Kc=Int+Float;
soulx 18:face01c94152 261 break;
b0ssiz 14:28e24fcc5a01 262 }
b0ssiz 14:28e24fcc5a01 263 case KI_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 264 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 265 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 266 float Int,Float,KI;
b0ssiz 14:28e24fcc5a01 267 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 268 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 269 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 270 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 271 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 272 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 273 KI=Int+Float;
b0ssiz 14:28e24fcc5a01 274 L_Ti=KI/L_Kc;
soulx 18:face01c94152 275 break;
b0ssiz 14:28e24fcc5a01 276 }
b0ssiz 14:28e24fcc5a01 277 case KD_LOWER_MOTOR: {
b0ssiz 14:28e24fcc5a01 278 uint8_t int_buffer[2];
b0ssiz 14:28e24fcc5a01 279 uint8_t float_buffer[2];
b0ssiz 14:28e24fcc5a01 280 float Int,Float,KD;
b0ssiz 14:28e24fcc5a01 281 int_buffer[0]=cmd[1];
b0ssiz 14:28e24fcc5a01 282 int_buffer[1]=cmd[2];
b0ssiz 14:28e24fcc5a01 283 float_buffer[0]=cmd[3];
b0ssiz 14:28e24fcc5a01 284 float_buffer[1]=cmd[4];
b0ssiz 14:28e24fcc5a01 285 Int=(float)Utilities::ConvertUInt8ArrayToInt16(int_buffer);
b0ssiz 14:28e24fcc5a01 286 Float=(float)Utilities::ConvertUInt8ArrayToInt16(float_buffer)/10000;
b0ssiz 14:28e24fcc5a01 287 KD=Int+Float;
b0ssiz 14:28e24fcc5a01 288 L_Td=KD/L_Kc;
soulx 18:face01c94152 289 break;
b0ssiz 14:28e24fcc5a01 290 }
b0ssiz 14:28e24fcc5a01 291 case HEIGHT: {
b0ssiz 14:28e24fcc5a01 292 int i;
b0ssiz 14:28e24fcc5a01 293 for(i=0; i<4; i++) {
b0ssiz 14:28e24fcc5a01 294 Height[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 295 }
soulx 18:face01c94152 296 break;
b0ssiz 14:28e24fcc5a01 297 }
b0ssiz 14:28e24fcc5a01 298 case WHEELPOS: {
b0ssiz 14:28e24fcc5a01 299 int i;
b0ssiz 14:28e24fcc5a01 300 for(i=0; i<4; i++) {
b0ssiz 14:28e24fcc5a01 301 Wheelpos[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 302 }
soulx 18:face01c94152 303 break;
b0ssiz 14:28e24fcc5a01 304 }
b0ssiz 14:28e24fcc5a01 305 case MAG_DATA: {
b0ssiz 14:28e24fcc5a01 306 int i;
b0ssiz 14:28e24fcc5a01 307 for(i=0; i<24; i++) {
b0ssiz 14:28e24fcc5a01 308 Mag[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 309 }
soulx 18:face01c94152 310 break;
b0ssiz 14:28e24fcc5a01 311 }
b0ssiz 14:28e24fcc5a01 312 case OFFSET: {
b0ssiz 14:28e24fcc5a01 313 int i;
b0ssiz 14:28e24fcc5a01 314 for(i=0; i<8; i++) {
b0ssiz 14:28e24fcc5a01 315 Offset[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 316 }
soulx 18:face01c94152 317 break;
b0ssiz 14:28e24fcc5a01 318 }
b0ssiz 14:28e24fcc5a01 319 case BODY_WIDTH: {
b0ssiz 14:28e24fcc5a01 320 int i;
b0ssiz 14:28e24fcc5a01 321 for(i=0; i<4; i++) {
b0ssiz 14:28e24fcc5a01 322 Body_width[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 323 }
soulx 18:face01c94152 324 break;
b0ssiz 14:28e24fcc5a01 325 }
b0ssiz 14:28e24fcc5a01 326 case ANGLE_RANGE_UP: {
b0ssiz 14:28e24fcc5a01 327 int i;
ParinyaT 16:c0a1daeb9fa5 328 for(i=0; i<8; i++) {
b0ssiz 14:28e24fcc5a01 329 Angle_Range_Up[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 330 }
soulx 18:face01c94152 331 break;
b0ssiz 14:28e24fcc5a01 332 }
b0ssiz 14:28e24fcc5a01 333 case ANGLE_RANGE_LOW: {
b0ssiz 14:28e24fcc5a01 334 int i;
ParinyaT 16:c0a1daeb9fa5 335 for(i=0; i<8; i++) {
b0ssiz 14:28e24fcc5a01 336 Angle_Range_Low[0+i]=cmd[1+i];
b0ssiz 14:28e24fcc5a01 337 }
soulx 18:face01c94152 338 break;
ParinyaT 13:49cb002ad8fd 339 }
b0ssiz 22:449f31da2d3d 340
b0ssiz 22:449f31da2d3d 341 case UP_LINK_LENGTH: {
b0ssiz 22:449f31da2d3d 342 int i;
b0ssiz 22:449f31da2d3d 343 for(i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 344 UpLinkLength[0+i]=cmd[1+i];
b0ssiz 22:449f31da2d3d 345 }
b0ssiz 22:449f31da2d3d 346 break;
b0ssiz 22:449f31da2d3d 347 }
b0ssiz 22:449f31da2d3d 348 case LOW_LINK_LENGTH: {
b0ssiz 22:449f31da2d3d 349 int i;
b0ssiz 22:449f31da2d3d 350 for(i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 351 LowLinkLength[0+i]=cmd[1+i];
b0ssiz 22:449f31da2d3d 352 }
b0ssiz 22:449f31da2d3d 353 break;
b0ssiz 22:449f31da2d3d 354 }
ParinyaT 16:c0a1daeb9fa5 355 // unfinish yet!!!!!!!!!!!!!!!!!
ParinyaT 16:c0a1daeb9fa5 356 case SAVE_EEPROM_DATA: {
b0ssiz 22:449f31da2d3d 357 if(id==0x01) {
b0ssiz 22:449f31da2d3d 358
b0ssiz 22:449f31da2d3d 359 if (cmd[1]==HEIGHT) {
b0ssiz 22:449f31da2d3d 360 int32_t data_buff;
b0ssiz 22:449f31da2d3d 361 data_buff = Utilities::ConvertUInt8ArrayToInt32(Height);
b0ssiz 22:449f31da2d3d 362 memory.write(ADDRESS_HEIGHT,data_buff);
b0ssiz 22:449f31da2d3d 363
b0ssiz 22:449f31da2d3d 364 } else if(cmd[1]==BODY_WIDTH) {
b0ssiz 22:449f31da2d3d 365 int32_t data_buff;
b0ssiz 22:449f31da2d3d 366 data_buff = Utilities::ConvertUInt8ArrayToInt32(Body_width);
b0ssiz 22:449f31da2d3d 367 memory.write(ADDRESS_BODY_WIDTH,data_buff);
b0ssiz 22:449f31da2d3d 368
b0ssiz 22:449f31da2d3d 369 } else if(cmd[1]==OFFSET) {
b0ssiz 22:449f31da2d3d 370 uint8_t y_offset_array[4];
b0ssiz 22:449f31da2d3d 371 uint8_t z_offset_array[4];
b0ssiz 22:449f31da2d3d 372 int32_t y_data_buffer,z_data_buffer;
b0ssiz 22:449f31da2d3d 373 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 374 y_offset_array[i]=Offset[i];
b0ssiz 22:449f31da2d3d 375 z_offset_array[i]=Offset[i+4];
b0ssiz 22:449f31da2d3d 376 }
b0ssiz 22:449f31da2d3d 377 y_data_buffer = Utilities::ConvertUInt8ArrayToInt32(y_offset_array);
b0ssiz 22:449f31da2d3d 378 z_data_buffer = Utilities::ConvertUInt8ArrayToInt32(z_offset_array);
b0ssiz 22:449f31da2d3d 379 memory.write(ADDRESS_OFFSET,y_data_buffer);
b0ssiz 22:449f31da2d3d 380 memory.write(ADDRESS_OFFSET+4,z_data_buffer);
b0ssiz 22:449f31da2d3d 381
b0ssiz 22:449f31da2d3d 382 } else if(cmd[1]==MAG_DATA) {
b0ssiz 22:449f31da2d3d 383 uint8_t x_max_array[4];
b0ssiz 22:449f31da2d3d 384 uint8_t x_min_array[4];
b0ssiz 22:449f31da2d3d 385 uint8_t y_max_array[4];
b0ssiz 22:449f31da2d3d 386 uint8_t y_min_array[4];
b0ssiz 22:449f31da2d3d 387 uint8_t z_max_array[4];
b0ssiz 22:449f31da2d3d 388 uint8_t z_min_array[4];
b0ssiz 22:449f31da2d3d 389 int32_t x_max_buffer,x_min_buffer,y_max_buffer,y_min_buffer,z_max_buffer,z_min_buffer;
b0ssiz 22:449f31da2d3d 390 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 391 x_max_array[i]=Mag[i];
b0ssiz 22:449f31da2d3d 392 x_min_array[i]=Mag[i+4];
b0ssiz 22:449f31da2d3d 393 y_max_array[i]=Mag[i+8];
b0ssiz 22:449f31da2d3d 394 y_min_array[i]=Mag[i+12];
b0ssiz 22:449f31da2d3d 395 z_max_array[i]=Mag[i+16];
b0ssiz 22:449f31da2d3d 396 z_min_array[i]=Mag[i+20];
b0ssiz 22:449f31da2d3d 397 }
b0ssiz 22:449f31da2d3d 398 x_max_buffer = Utilities::ConvertUInt8ArrayToInt32(x_max_array);
b0ssiz 22:449f31da2d3d 399 x_min_buffer = Utilities::ConvertUInt8ArrayToInt32(x_min_array);
b0ssiz 22:449f31da2d3d 400 y_max_buffer = Utilities::ConvertUInt8ArrayToInt32(y_max_array);
b0ssiz 22:449f31da2d3d 401 y_min_buffer = Utilities::ConvertUInt8ArrayToInt32(y_min_array);
b0ssiz 22:449f31da2d3d 402 z_max_buffer = Utilities::ConvertUInt8ArrayToInt32(z_max_array);
b0ssiz 22:449f31da2d3d 403 z_min_buffer = Utilities::ConvertUInt8ArrayToInt32(z_min_array);
b0ssiz 22:449f31da2d3d 404 memory.write(ADDRESS_MAG_DATA,x_max_buffer);
b0ssiz 22:449f31da2d3d 405 memory.write(ADDRESS_MAG_DATA+4,x_min_buffer);
b0ssiz 22:449f31da2d3d 406 memory.write(ADDRESS_MAG_DATA+8,y_max_buffer);
b0ssiz 22:449f31da2d3d 407 memory.write(ADDRESS_MAG_DATA+12,y_min_buffer);
b0ssiz 22:449f31da2d3d 408 memory.write(ADDRESS_MAG_DATA+16,z_max_buffer);
b0ssiz 22:449f31da2d3d 409 memory.write(ADDRESS_MAG_DATA+20,z_min_buffer);
b0ssiz 22:449f31da2d3d 410 }
b0ssiz 22:449f31da2d3d 411
b0ssiz 22:449f31da2d3d 412 } else {
b0ssiz 22:449f31da2d3d 413 if (cmd[1]==ID) {
b0ssiz 22:449f31da2d3d 414 memory.write(ADDRESS_ID,id);
soulx 18:face01c94152 415
b0ssiz 22:449f31da2d3d 416 } else if(cmd[1]==UP_MARGIN) {
b0ssiz 22:449f31da2d3d 417 int32_t data_buff;
b0ssiz 22:449f31da2d3d 418 data_buff = Utilities::ConvertUInt8ArrayToInt32(UpMargin);
b0ssiz 22:449f31da2d3d 419 memory.write(ADDRESS_UP_MARGIN,data_buff);
b0ssiz 22:449f31da2d3d 420
b0ssiz 22:449f31da2d3d 421 } else if (cmd[1]==LOW_MARGIN) {
b0ssiz 22:449f31da2d3d 422 int32_t data_buff;
b0ssiz 22:449f31da2d3d 423 data_buff = Utilities::ConvertUInt8ArrayToInt32(LowMargin);
b0ssiz 22:449f31da2d3d 424 memory.write(ADDRESS_LOW_MARGIN,data_buff);
b0ssiz 22:449f31da2d3d 425
b0ssiz 22:449f31da2d3d 426 } else if (cmd[1]==PID_UPPER_MOTOR) {
b0ssiz 22:449f31da2d3d 427 memory.write(ADDRESS_UPPER_KP,U_Kc);
b0ssiz 22:449f31da2d3d 428 memory.write(ADDRESS_UPPER_KI,U_Ti);
b0ssiz 22:449f31da2d3d 429 memory.write(ADDRESS_UPPER_KD,U_Td);
b0ssiz 22:449f31da2d3d 430
b0ssiz 22:449f31da2d3d 431 } else if (cmd[1]==PID_LOWER_MOTOR) {
b0ssiz 22:449f31da2d3d 432 memory.write(ADDRESS_LOWER_KP,L_Kc);
b0ssiz 22:449f31da2d3d 433 memory.write(ADDRESS_LOWER_KI,L_Ti);
b0ssiz 22:449f31da2d3d 434 memory.write(ADDRESS_LOWER_KD,L_Td);
b0ssiz 22:449f31da2d3d 435
b0ssiz 22:449f31da2d3d 436 } else if (cmd[1]==ANGLE_RANGE_UP) {
b0ssiz 22:449f31da2d3d 437 uint8_t max_array[4];
b0ssiz 22:449f31da2d3d 438 uint8_t min_array[4];
b0ssiz 22:449f31da2d3d 439 int32_t max_data_buffer,min_data_buffer;
b0ssiz 22:449f31da2d3d 440 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 441 max_array[i]=Angle_Range_Up[i];
b0ssiz 22:449f31da2d3d 442 min_array[i]=Angle_Range_Up[i+4];
b0ssiz 22:449f31da2d3d 443 }
b0ssiz 22:449f31da2d3d 444 max_data_buffer = Utilities::ConvertUInt8ArrayToInt32(max_array);
b0ssiz 22:449f31da2d3d 445 min_data_buffer = Utilities::ConvertUInt8ArrayToInt32(min_array);
b0ssiz 22:449f31da2d3d 446 memory.write(ADDRESS_ANGLE_RANGE_UP,max_data_buffer);
b0ssiz 22:449f31da2d3d 447 memory.write(ADDRESS_ANGLE_RANGE_UP+4,min_data_buffer);
b0ssiz 22:449f31da2d3d 448
b0ssiz 22:449f31da2d3d 449 } else if (cmd[1]==ANGLE_RANGE_LOW) {
b0ssiz 22:449f31da2d3d 450 uint8_t max_array[4];
b0ssiz 22:449f31da2d3d 451 uint8_t min_array[4];
b0ssiz 22:449f31da2d3d 452 int32_t max_data_buffer,min_data_buffer;
b0ssiz 22:449f31da2d3d 453 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 454 max_array[i]=Angle_Range_Low[i];
b0ssiz 22:449f31da2d3d 455 min_array[i]=Angle_Range_Low[i+4];
b0ssiz 22:449f31da2d3d 456 }
b0ssiz 22:449f31da2d3d 457 max_data_buffer = Utilities::ConvertUInt8ArrayToInt32(max_array);
b0ssiz 22:449f31da2d3d 458 min_data_buffer = Utilities::ConvertUInt8ArrayToInt32(min_array);
b0ssiz 22:449f31da2d3d 459 memory.write(ADDRESS_ANGLE_RANGE_LOW,max_data_buffer);
b0ssiz 22:449f31da2d3d 460 memory.write(ADDRESS_ANGLE_RANGE_LOW+4,min_data_buffer);
b0ssiz 22:449f31da2d3d 461
b0ssiz 22:449f31da2d3d 462 } else if (cmd[1]==UP_LINK_LENGTH) {
b0ssiz 22:449f31da2d3d 463 int32_t data_buff;
b0ssiz 22:449f31da2d3d 464 data_buff = Utilities::ConvertUInt8ArrayToInt32(UpLinkLength);
b0ssiz 22:449f31da2d3d 465 memory.write(ADDRESS_UP_LINK_LENGTH,data_buff);
b0ssiz 22:449f31da2d3d 466
b0ssiz 22:449f31da2d3d 467 } else if (cmd[1]==LOW_LINK_LENGTH) {
b0ssiz 22:449f31da2d3d 468 int32_t data_buff;
b0ssiz 22:449f31da2d3d 469 data_buff = Utilities::ConvertUInt8ArrayToInt32(LowLinkLength);
b0ssiz 22:449f31da2d3d 470 memory.write(ADDRESS_LOW_LINK_LENGTH,data_buff);
b0ssiz 22:449f31da2d3d 471
b0ssiz 22:449f31da2d3d 472 } else if (cmd[1]==WHEELPOS) {
b0ssiz 22:449f31da2d3d 473 int32_t data_buff;
b0ssiz 22:449f31da2d3d 474 data_buff = Utilities::ConvertUInt8ArrayToInt32(Wheelpos);
b0ssiz 22:449f31da2d3d 475 memory.write(ADDRESS_WHEELPOS,data_buff);
b0ssiz 22:449f31da2d3d 476
b0ssiz 22:449f31da2d3d 477 }
ParinyaT 16:c0a1daeb9fa5 478 }
soulx 18:face01c94152 479 break;
ParinyaT 16:c0a1daeb9fa5 480 }
soulx 18:face01c94152 481
b0ssiz 22:449f31da2d3d 482 // break;
ParinyaT 12:6b3b997dd7c2 483 }
b0ssiz 14:28e24fcc5a01 484 case READ_DATA: {
b0ssiz 14:28e24fcc5a01 485 switch (cmd[0]) {
b0ssiz 14:28e24fcc5a01 486 case MOTOR_UPPER_ANG: {
soulx 25:c66a0d029e1f 487
b0ssiz 22:449f31da2d3d 488 com.sendMotorPos(MY_ID,Upper_Position,Lower_Position);
soulx 18:face01c94152 489 uint8_t status;
soulx 18:face01c94152 490 status =com.sendMotorPos(MY_ID,Upper_Position,Lower_Position);
soulx 18:face01c94152 491 break;
b0ssiz 14:28e24fcc5a01 492 }
b0ssiz 14:28e24fcc5a01 493 case UP_MARGIN: {
b0ssiz 22:449f31da2d3d 494 int32_t data_buff;
b0ssiz 22:449f31da2d3d 495 memory.read(ADDRESS_UP_MARGIN,data_buff);
b0ssiz 22:449f31da2d3d 496 Utilities::ConvertInt32ToUInt8Array(data_buff,UpMargin);
soulx 18:face01c94152 497 com.sendUpMargin(MY_ID,UpMargin);
soulx 18:face01c94152 498 break;
b0ssiz 14:28e24fcc5a01 499 }
b0ssiz 14:28e24fcc5a01 500 case LOW_MARGIN: {
b0ssiz 22:449f31da2d3d 501 int32_t data_buff;
b0ssiz 22:449f31da2d3d 502 memory.read(ADDRESS_LOW_MARGIN,data_buff);
b0ssiz 22:449f31da2d3d 503 Utilities::ConvertInt32ToUInt8Array(data_buff,LowMargin);
ParinyaT 16:c0a1daeb9fa5 504 com.sendLowMargin(MY_ID,LowMargin);
soulx 18:face01c94152 505 break;
b0ssiz 14:28e24fcc5a01 506 }
b0ssiz 14:28e24fcc5a01 507 case PID_UPPER_MOTOR: {
b0ssiz 22:449f31da2d3d 508 memory.read(ADDRESS_UPPER_KP,U_Kc);
b0ssiz 22:449f31da2d3d 509 memory.read(ADDRESS_UPPER_KI,U_Ki);
b0ssiz 22:449f31da2d3d 510 memory.read(ADDRESS_UPPER_KD,U_Kd);
ParinyaT 16:c0a1daeb9fa5 511 com.sendUpMotorKpKiKd(MY_ID,U_Kc,U_Ki,U_Kd);
soulx 18:face01c94152 512 break;
b0ssiz 14:28e24fcc5a01 513 }
b0ssiz 14:28e24fcc5a01 514 case PID_LOWER_MOTOR: {
b0ssiz 22:449f31da2d3d 515 memory.read(ADDRESS_LOWER_KP,L_Kc);
b0ssiz 22:449f31da2d3d 516 memory.read(ADDRESS_LOWER_KI,L_Ki);
b0ssiz 22:449f31da2d3d 517 memory.read(ADDRESS_LOWER_KD,L_Kd);
ParinyaT 16:c0a1daeb9fa5 518 com.sendLowMotorKpKiKd(MY_ID,L_Kc,L_Ki,L_Kd);
soulx 18:face01c94152 519 break;
b0ssiz 14:28e24fcc5a01 520 }
b0ssiz 14:28e24fcc5a01 521 case HEIGHT: {
b0ssiz 22:449f31da2d3d 522 int32_t data_buff;
b0ssiz 22:449f31da2d3d 523 memory.read(ADDRESS_HEIGHT,data_buff);
b0ssiz 22:449f31da2d3d 524 Utilities::ConvertInt32ToUInt8Array(data_buff,Height);
ParinyaT 16:c0a1daeb9fa5 525 com.sendHeight(MY_ID,Height);
soulx 18:face01c94152 526 break;
b0ssiz 14:28e24fcc5a01 527 }
b0ssiz 14:28e24fcc5a01 528 case WHEELPOS: {
b0ssiz 22:449f31da2d3d 529 int32_t data_buff;
b0ssiz 22:449f31da2d3d 530 memory.read(ADDRESS_WHEELPOS,data_buff);
b0ssiz 22:449f31da2d3d 531 Utilities::ConvertInt32ToUInt8Array(data_buff,Wheelpos);
ParinyaT 16:c0a1daeb9fa5 532 com.sendWheelPos(MY_ID,Wheelpos);
soulx 18:face01c94152 533 break;
b0ssiz 14:28e24fcc5a01 534 }
b0ssiz 14:28e24fcc5a01 535 case MAG_DATA: {
b0ssiz 22:449f31da2d3d 536 uint8_t x_max_array[4];
b0ssiz 22:449f31da2d3d 537 uint8_t x_min_array[4];
b0ssiz 22:449f31da2d3d 538 uint8_t y_max_array[4];
b0ssiz 22:449f31da2d3d 539 uint8_t y_min_array[4];
b0ssiz 22:449f31da2d3d 540 uint8_t z_max_array[4];
b0ssiz 22:449f31da2d3d 541 uint8_t z_min_array[4];
b0ssiz 22:449f31da2d3d 542 int32_t x_max_buffer,x_min_buffer,y_max_buffer,y_min_buffer,z_max_buffer,z_min_buffer;
b0ssiz 22:449f31da2d3d 543 memory.read(ADDRESS_MAG_DATA,x_max_buffer);
b0ssiz 22:449f31da2d3d 544 memory.read(ADDRESS_MAG_DATA+4,x_min_buffer);
b0ssiz 22:449f31da2d3d 545 memory.read(ADDRESS_MAG_DATA+8,y_max_buffer);
b0ssiz 22:449f31da2d3d 546 memory.read(ADDRESS_MAG_DATA+12,y_min_buffer);
b0ssiz 22:449f31da2d3d 547 memory.read(ADDRESS_MAG_DATA+16,z_max_buffer);
b0ssiz 22:449f31da2d3d 548 memory.read(ADDRESS_MAG_DATA+20,z_min_buffer);
b0ssiz 22:449f31da2d3d 549 Utilities::ConvertInt32ToUInt8Array(x_max_buffer,x_max_array);
b0ssiz 22:449f31da2d3d 550 Utilities::ConvertInt32ToUInt8Array(x_min_buffer,x_min_array);
b0ssiz 22:449f31da2d3d 551 Utilities::ConvertInt32ToUInt8Array(y_max_buffer,y_max_array);
b0ssiz 22:449f31da2d3d 552 Utilities::ConvertInt32ToUInt8Array(y_min_buffer,y_min_array);
b0ssiz 22:449f31da2d3d 553 Utilities::ConvertInt32ToUInt8Array(z_max_buffer,z_max_array);
b0ssiz 22:449f31da2d3d 554 Utilities::ConvertInt32ToUInt8Array(z_min_buffer,z_min_array);
b0ssiz 22:449f31da2d3d 555 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 556 Mag[i]=x_max_array[i];
b0ssiz 22:449f31da2d3d 557 Mag[i+4]=x_min_array[i];
b0ssiz 22:449f31da2d3d 558 Mag[i+8]=y_max_array[i];
b0ssiz 22:449f31da2d3d 559 Mag[i+12]=y_min_array[i];
b0ssiz 22:449f31da2d3d 560 Mag[i+16]=z_max_array[i];
b0ssiz 22:449f31da2d3d 561 Mag[i+20]=z_min_array[i];
b0ssiz 22:449f31da2d3d 562 }
ParinyaT 16:c0a1daeb9fa5 563 com.sendMagData(MY_ID,Mag);
soulx 18:face01c94152 564 break;
b0ssiz 14:28e24fcc5a01 565 }
b0ssiz 14:28e24fcc5a01 566 case OFFSET: {
b0ssiz 22:449f31da2d3d 567 uint8_t y_offset_array[4];
b0ssiz 22:449f31da2d3d 568 uint8_t z_offset_array[4];
b0ssiz 22:449f31da2d3d 569 int32_t y_data_buffer,z_data_buffer;
b0ssiz 22:449f31da2d3d 570 memory.read(ADDRESS_OFFSET,y_data_buffer);
b0ssiz 22:449f31da2d3d 571 memory.read(ADDRESS_OFFSET+4,z_data_buffer);
b0ssiz 22:449f31da2d3d 572 Utilities::ConvertInt32ToUInt8Array(y_data_buffer,y_offset_array);
b0ssiz 22:449f31da2d3d 573 Utilities::ConvertInt32ToUInt8Array(z_data_buffer,z_offset_array);
b0ssiz 22:449f31da2d3d 574 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 575 Offset[i]=y_offset_array[i];
b0ssiz 22:449f31da2d3d 576 Offset[i+4]=z_offset_array[i];
b0ssiz 22:449f31da2d3d 577 }
ParinyaT 16:c0a1daeb9fa5 578 com.sendOffset(MY_ID,Offset);
soulx 18:face01c94152 579 break;
b0ssiz 14:28e24fcc5a01 580 }
b0ssiz 14:28e24fcc5a01 581 case BODY_WIDTH: {
b0ssiz 22:449f31da2d3d 582 int32_t data_buff;
b0ssiz 22:449f31da2d3d 583 memory.read(ADDRESS_BODY_WIDTH,data_buff);
b0ssiz 22:449f31da2d3d 584 Utilities::ConvertInt32ToUInt8Array(data_buff,Body_width);
ParinyaT 16:c0a1daeb9fa5 585 com.sendBodyWidth(MY_ID,Body_width);
soulx 18:face01c94152 586 break;
b0ssiz 14:28e24fcc5a01 587 }
b0ssiz 14:28e24fcc5a01 588 case ANGLE_RANGE_UP: {
b0ssiz 22:449f31da2d3d 589 uint8_t max_array[4];
b0ssiz 22:449f31da2d3d 590 uint8_t min_array[4];
b0ssiz 22:449f31da2d3d 591 int32_t max_data_buffer,min_data_buffer;
b0ssiz 22:449f31da2d3d 592 memory.read(ADDRESS_ANGLE_RANGE_UP,max_data_buffer);
b0ssiz 22:449f31da2d3d 593 memory.read(ADDRESS_ANGLE_RANGE_UP+4,min_data_buffer);
b0ssiz 22:449f31da2d3d 594 Utilities::ConvertInt32ToUInt8Array(max_data_buffer,max_array);
b0ssiz 22:449f31da2d3d 595 Utilities::ConvertInt32ToUInt8Array(min_data_buffer,min_array);
b0ssiz 22:449f31da2d3d 596 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 597 Angle_Range_Up[i]=max_array[i];
b0ssiz 22:449f31da2d3d 598 Angle_Range_Up[i+4]=min_array[i];
b0ssiz 22:449f31da2d3d 599 }
ParinyaT 16:c0a1daeb9fa5 600 com.sendUpAngleRange(MY_ID,Angle_Range_Up);
soulx 18:face01c94152 601 break;
b0ssiz 14:28e24fcc5a01 602 }
b0ssiz 14:28e24fcc5a01 603 case ANGLE_RANGE_LOW: {
b0ssiz 22:449f31da2d3d 604 uint8_t max_array[4];
b0ssiz 22:449f31da2d3d 605 uint8_t min_array[4];
b0ssiz 22:449f31da2d3d 606 int32_t max_data_buffer,min_data_buffer;
b0ssiz 22:449f31da2d3d 607 memory.read(ADDRESS_ANGLE_RANGE_LOW,max_data_buffer);
b0ssiz 22:449f31da2d3d 608 memory.read(ADDRESS_ANGLE_RANGE_LOW+4,min_data_buffer);
b0ssiz 22:449f31da2d3d 609 Utilities::ConvertInt32ToUInt8Array(max_data_buffer,max_array);
b0ssiz 22:449f31da2d3d 610 Utilities::ConvertInt32ToUInt8Array(min_data_buffer,min_array);
b0ssiz 22:449f31da2d3d 611 for(int i=0; i<4; i++) {
b0ssiz 22:449f31da2d3d 612 Angle_Range_Low[i]=max_array[i];
b0ssiz 22:449f31da2d3d 613 Angle_Range_Low[i+4]=min_array[i];
b0ssiz 22:449f31da2d3d 614 }
ParinyaT 16:c0a1daeb9fa5 615 com.sendLowAngleRange(MY_ID,Angle_Range_Low);
soulx 18:face01c94152 616 break;
b0ssiz 14:28e24fcc5a01 617 }
b0ssiz 22:449f31da2d3d 618 case UP_LINK_LENGTH: {
b0ssiz 22:449f31da2d3d 619 int32_t data_buff;
b0ssiz 22:449f31da2d3d 620 memory.read(ADDRESS_UP_LINK_LENGTH,data_buff);
b0ssiz 22:449f31da2d3d 621 Utilities::ConvertInt32ToUInt8Array(data_buff,UpLinkLength);
b0ssiz 22:449f31da2d3d 622 com.sendUpLinkLength(MY_ID,UpLinkLength);
b0ssiz 22:449f31da2d3d 623 break;
b0ssiz 22:449f31da2d3d 624 }
b0ssiz 22:449f31da2d3d 625 case LOW_LINK_LENGTH: {
b0ssiz 22:449f31da2d3d 626 int32_t data_buff;
b0ssiz 22:449f31da2d3d 627 memory.read(ADDRESS_LOW_LINK_LENGTH,data_buff);
b0ssiz 22:449f31da2d3d 628 Utilities::ConvertInt32ToUInt8Array(data_buff,LowLinkLength);
b0ssiz 22:449f31da2d3d 629 com.sendLowLinkLength(MY_ID,LowLinkLength);
b0ssiz 22:449f31da2d3d 630 break;
b0ssiz 22:449f31da2d3d 631 }
b0ssiz 22:449f31da2d3d 632 // break;
ParinyaT 13:49cb002ad8fd 633 }
ParinyaT 13:49cb002ad8fd 634 }
ParinyaT 13:49cb002ad8fd 635 }
b0ssiz 10:3b3d6bc88677 636 }
b0ssiz 14:28e24fcc5a01 637 }
b0ssiz 10:3b3d6bc88677 638 }
b0ssiz 17:4c96838e579f 639
ParinyaT 11:3dd92d1d542c 640 /******************************************************/
ParinyaT 13:49cb002ad8fd 641 void Start_Up()
ParinyaT 11:3dd92d1d542c 642 {
ParinyaT 11:3dd92d1d542c 643 // wait for reciever
b0ssiz 22:449f31da2d3d 644 memory.read(ADDRESS_ID,MY_ID);
b0ssiz 22:449f31da2d3d 645 memory.read(ADDRESS_UPPER_KP,U_Kc);
b0ssiz 22:449f31da2d3d 646 memory.read(ADDRESS_UPPER_KI,U_Ti);
b0ssiz 22:449f31da2d3d 647 memory.read(ADDRESS_UPPER_KD,U_Td);
b0ssiz 22:449f31da2d3d 648 memory.read(ADDRESS_LOWER_KP,L_Kc);
b0ssiz 22:449f31da2d3d 649 memory.read(ADDRESS_LOWER_KI,L_Ti);
b0ssiz 22:449f31da2d3d 650 memory.read(ADDRESS_LOWER_KD,L_Td);
b0ssiz 14:28e24fcc5a01 651
ParinyaT 11:3dd92d1d542c 652 }
b0ssiz 14:28e24fcc5a01 653 /*******************************************************/
soulx 21:1c04c4afe3b7 654 inline void Rc()
ParinyaT 11:3dd92d1d542c 655 {
soulx 21:1c04c4afe3b7 656 myled =1;
b0ssiz 17:4c96838e579f 657 uint8_t data_array[30];
b0ssiz 14:28e24fcc5a01 658 uint8_t id;
b0ssiz 14:28e24fcc5a01 659 uint8_t ins;
soulx 18:face01c94152 660 uint8_t status;
b0ssiz 14:28e24fcc5a01 661
soulx 20:7e6d56655336 662
soulx 20:7e6d56655336 663
soulx 18:face01c94152 664 status = com.ReceiveCommand(&id,data_array,&ins);
soulx 18:face01c94152 665 if(status == ANDANTE_ERRBIT_NONE) {
soulx 18:face01c94152 666 CmdCheck((int16_t)id,data_array,ins);
soulx 18:face01c94152 667 }
soulx 21:1c04c4afe3b7 668
ParinyaT 11:3dd92d1d542c 669 }
ParinyaT 11:3dd92d1d542c 670 /*******************************************************/
ParinyaT 0:451c27e4d55e 671 int main()
ParinyaT 0:451c27e4d55e 672 {
b0ssiz 23:999dd41eef14 673
b0ssiz 22:449f31da2d3d 674
soulx 21:1c04c4afe3b7 675 //Recieve.attach(&Rc,0.025);
soulx 20:7e6d56655336 676 //Start_Up();
b0ssiz 23:999dd41eef14 677
ParinyaT 1:84167ca00307 678 SET_UpperPID();
ParinyaT 1:84167ca00307 679 SET_LowerPID();
ParinyaT 11:3dd92d1d542c 680
b0ssiz 14:28e24fcc5a01 681 while(1) {
soulx 21:1c04c4afe3b7 682 myled =0;
soulx 21:1c04c4afe3b7 683 //wait_ms(10);
soulx 21:1c04c4afe3b7 684
soulx 20:7e6d56655336 685 ///////////////////////////////////////////////////// start
b0ssiz 14:28e24fcc5a01 686 //Set Set_point
b0ssiz 14:28e24fcc5a01 687 Up_PID.setSetPoint(Upper_SetPoint);
b0ssiz 14:28e24fcc5a01 688 Low_PID.setSetPoint(Lower_SetPoint);
ParinyaT 1:84167ca00307 689
b0ssiz 14:28e24fcc5a01 690 //Control Motor
b0ssiz 14:28e24fcc5a01 691 Move_Upper();
b0ssiz 14:28e24fcc5a01 692 Move_Lower();
soulx 20:7e6d56655336 693 ///////////////////////////////////////////////////// stop =306us
soulx 21:1c04c4afe3b7 694 //uint8_t aaa[1]={10};
soulx 21:1c04c4afe3b7 695 //com.sendBodyWidth(0x01,aaa);
soulx 21:1c04c4afe3b7 696 Rc();
soulx 21:1c04c4afe3b7 697 //wait_ms(1);
soulx 20:7e6d56655336 698 }
ParinyaT 0:451c27e4d55e 699 }
b0ssiz 6:98871feebea0 700
ParinyaT 0:451c27e4d55e 701
ParinyaT 0:451c27e4d55e 702
b0ssiz 6:98871feebea0 703
b0ssiz 6:98871feebea0 704
b0ssiz 6:98871feebea0 705