Diff: BEAR_Protocol.cpp

Revision:

11:b34eababcf56

Parent:

10:2398eeafa967

Child:

12:6296cb35f853

--- a/BEAR_Protocol.cpp	Fri Jan 22 02:25:26 2016 +0000
+++ b/BEAR_Protocol.cpp	Fri Jan 22 10:21:37 2016 +0000
@@ -817,21 +817,21 @@
 
 
 
-uint8_t Bear_Communicate::setBodyLength(uint8_t id,float body_length)
+uint8_t Bear_Communicate::setBodyWidth(uint8_t id,float body_width)
 {
-    uint8_t IntBodyLength[2],FloatBodyLength[2];
-    FloatSep(body_length,IntBodyLength,FloatBodyLength);
+    uint8_t IntBodyWidth[2],FloatBodyWidth[2];
+    FloatSep(body_width,IntBodyWidth,FloatBodyWidth);
 
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 7;
     package.instructionErrorId = WRITE_DATA;
-    package.parameter[0]=BODY_LENGTH;
-    package.parameter[1]=IntBodyLength[0];
-    package.parameter[2]=IntBodyLength[1];
-    package.parameter[3]=FloatBodyLength[0];
-    package.parameter[4]=FloatBodyLength[1];
+    package.parameter[0]=BODY_WIDTH;
+    package.parameter[1]=IntBodyWidth[0];
+    package.parameter[2]=IntBodyWidth[1];
+    package.parameter[3]=FloatBodyWidth[0];
+    package.parameter[4]=FloatBodyWidth[1];
 
     rs485_dirc=1;
     wait_us(RS485_DELAY);
@@ -841,16 +841,16 @@
 
 
 
-uint8_t Bear_Communicate::getBodyLength(uint8_t id,float *body_length)
+uint8_t Bear_Communicate::getBodyWidth(uint8_t id,float *body_width)
 {
-    uint8_t IntBodyLength[2],FloatBodyLength[2];
+    uint8_t IntBodyWidth[2],FloatBodyWidth[2];
     float int_buffer,float_buffer;
     ANDANTE_PROTOCOL_PACKET package;
 
     package.robotId = id;
     package.length = 3;
     package.instructionErrorId = READ_DATA;
-    package.parameter[0]=BODY_LENGTH;
+    package.parameter[0]=BODY_WIDTH;
 
 
     rs485_dirc=1;
@@ -861,13 +861,13 @@
     wait_us(RS485_DELAY);
     uint8_t status=com->receiveCommunicatePacket(&package);
     if(status == ANDANTE_ERRBIT_NONE) {
-        IntBodyLength[0]=package.parameter[0];
-        IntBodyLength[1]=package.parameter[1];
-        FloatBodyLength[0]=package.parameter[2];
-        FloatBodyLength[1]=package.parameter[3];
-        int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntBodyLength);
-        float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatBodyLength)/FLOAT_CONVERTER;
-        *body_length=int_buffer+float_buffer;
+        IntBodyWidth[0]=package.parameter[0];
+        IntBodyWidth[1]=package.parameter[1];
+        FloatBodyWidth[0]=package.parameter[2];
+        FloatBodyWidth[1]=package.parameter[3];
+        int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntBodyWidth);
+        float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatBodyWidth)/FLOAT_CONVERTER;
+        *body_width=int_buffer+float_buffer;
     }
     return status;
 }