Diff: BEAR_Protocol.cpp

Revision:

0:fc963e08d580

Child:

2:d17ccaf938f6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BEAR_Protocol.cpp	Wed Dec 23 13:05:53 2015 +0000
@@ -0,0 +1,505 @@
+#include "mbed.h"
+#include "BEAR_Protocol.h"
+
+DigitalOut rs485_dirc(RS485_DIRC);
+
+Bear_Communicate::Bear_Communicate(PinName tx,PinName rx,int baudrate)
+{
+    com = new COMMUNICATION(tx,rx,baudrate);
+}
+
+
+
+uint8_t Bear_Communicate::SetID(uint8_t id,uint8_t new_id)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_ID;
+    package.parameter[1]=new_id;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Communicate::SetMotorPos(uint8_t id,float up_angle,float low_angle)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 5;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_MOTOR_UPPER_ANG;
+    package.parameter[1]=up_angle;
+    package.parameter[2]=low_angle;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Communicate::GetMotorPos(uint8_t id,float *up_angle,float *low_angle)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = READ_DATA;
+    package.parameter[0] = GET_MOTOR_UPPER_ANG;
+    package.parameter[1] = 0x02;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    com->sendCommunicatePacket(&package);
+
+    rs485_dirc=0;
+    wait_us(RS485_DELAY);
+    uint8_t status = com->receiveCommunicatePacket(&package);
+
+    if(status == ANDANTE_ERRBIT_NONE) {
+
+        *up_angle=(float)package.parameter[0];
+        *low_angle=(float)package.parameter[1];
+
+#ifdef SERIAL_DEBUG
+        printf("up_angle : %f low_angle : %f \r\n", *up_angle,*low_angle);
+#endif
+    }
+    return status;
+}
+
+
+
+uint8_t Bear_Communicate::SetKp(uint8_t id,float Kp)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_KP;
+    package.parameter[1]=Kp;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Communicate::SetKi(uint8_t id,float Ki)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_KI;
+    package.parameter[1]=Ki;
+
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Communicate::SetKd(uint8_t id,float Kd)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_KD;
+    package.parameter[1]=Kd;
+
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Communicate::GetKpKiKd(uint8_t id,float *Kp,float *Ki,float *Kd)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = READ_DATA;
+    package.parameter[0]=GET_KP;
+    package.parameter[1]=0x03;
+
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    com->sendCommunicatePacket(&package);
+
+    rs485_dirc=0;
+    wait_us(RS485_DELAY);
+    uint8_t status = com->receiveCommunicatePacket(&package);
+    if(status == ANDANTE_ERRBIT_NONE) {
+
+        *Kp=package.parameter[0];
+        *Ki=package.parameter[1];
+        *Kd=package.parameter[2];
+#ifdef SERIAL_DEBUG
+        //printf("Kp : 0x%02X  Ki : 0x%02X Kd : 0x%02X \r\n", *Kp,*Ki,*Kd);
+#endif
+    }
+    return status;
+}
+
+
+
+///////////////////////////////////////////// Save Data to EEPROM \\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
+
+
+uint8_t Bear_Communicate::SetMargin(uint8_t id,float margin)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_MARGIN;
+    package.parameter[1]=margin;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Communicate::GetMargin(uint8_t id,float *margin)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = READ_DATA;
+    package.parameter[0]=GET_MARGIN;
+    package.parameter[1]=0x01;
+
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    com->sendCommunicatePacket(&package);
+
+    rs485_dirc=0;
+    wait_us(RS485_DELAY);
+    uint8_t status=com->receiveCommunicatePacket(&package);
+    if(status == ANDANTE_ERRBIT_NONE) {
+
+        *margin=package.parameter[0];
+#ifdef SERIAL_DEBUG
+        //printf("Margin : 0x%02X \r\n", *margin);
+#endif
+    }
+    return status;
+}
+
+
+
+uint8_t Bear_Communicate::SetHeight(uint8_t id,float height)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_HEIGHT;
+    package.parameter[1]=height;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Communicate::GetHeight(uint8_t id,float *height)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = READ_DATA;
+    package.parameter[0]=GET_HEIGHT;
+    package.parameter[1]=0x01;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    com->sendCommunicatePacket(&package);
+
+    rs485_dirc=0;
+    wait_us(RS485_DELAY);
+    uint8_t status = com->receiveCommunicatePacket(&package);
+    if(status == ANDANTE_ERRBIT_NONE) {
+
+        *height = package.parameter[0];
+
+#ifdef SERIAL_DEBUG
+        //printf("Height : 0x%02X \r\n", *height);
+#endif
+    }
+    return status;
+}
+
+
+
+uint8_t Bear_Communicate::SetWheelPos(uint8_t id,float WheelPos)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_WHEELPOS;
+    package.parameter[1]=WheelPos;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Communicate::GetWheelPos(uint8_t id,float *WheelPos)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = READ_DATA;
+    package.parameter[0]=GET_WHEELPOS;
+    package.parameter[1]=0x01;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    com->sendCommunicatePacket(&package);
+
+    rs485_dirc=0;
+    wait_us(RS485_DELAY);
+    uint8_t status = com->receiveCommunicatePacket(&package);
+    if(status == ANDANTE_ERRBIT_NONE) {
+
+        *WheelPos = package.parameter[0];
+
+#ifdef SERIAL_DEBUG
+        //printf("Wheel_position : 0x%02X \r\n", *WheelPos);
+#endif
+    }
+    return status;
+}
+
+uint8_t Bear_Communicate::SetMagData(uint8_t id,float x_max,float y_max,float z_max,float x_min,float y_min,float z_min)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 9;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_MAG_X_MAX;
+    package.parameter[1]=x_max;
+    package.parameter[2]=y_max;
+    package.parameter[3]=z_max;
+    package.parameter[4]=x_min;
+    package.parameter[5]=y_min;
+    package.parameter[6]=z_min;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+uint8_t Bear_Communicate::GetMagData(uint8_t id,float *x_max,float *y_max,float *z_max,float *x_min,float *y_min,float *z_min)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = READ_DATA;
+    package.parameter[0]=GET_MAG_X_MAX;
+    package.parameter[1]=0x06;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    com->sendCommunicatePacket(&package);
+
+    rs485_dirc=0;
+    wait_us(RS485_DELAY);
+    uint8_t status = com->receiveCommunicatePacket(&package);
+    if(status == ANDANTE_ERRBIT_NONE) {
+
+        *x_max=package.parameter[0];
+        *y_max=package.parameter[1];
+        *z_max=package.parameter[2];
+        *x_min=package.parameter[3];
+        *y_min=package.parameter[4];
+        *z_min=package.parameter[5];
+
+
+#ifdef SERIAL_DEBUG
+        printf("X_max : 0x%02X Y_max : 0x%02X Z_max : 0x%02X X_min : 0x%02X Y_min : 0x%02X Z_min : 0x%02X \r\n",x_max,y_max,z_max,x_min,y_min,z_min);
+#endif
+    }
+    return status;
+}
+
+
+
+uint8_t Bear_Communicate::SetOffset(uint8_t id,float offset_y,float offset_z)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 5;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_OFFSET_Y;
+    package.parameter[1]=offset_y;
+    package.parameter[2]=offset_z;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+uint8_t Bear_Communicate::GetOffset(uint8_t id,float *offset_y,float *offset_z)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = READ_DATA;
+    package.parameter[0]=GET_MAG_X_MAX;
+    package.parameter[1]=0x02;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    com->sendCommunicatePacket(&package);
+
+    rs485_dirc=0;
+    wait_us(RS485_DELAY);
+    uint8_t status = com->receiveCommunicatePacket(&package);
+    if(status == ANDANTE_ERRBIT_NONE) {
+
+        *offset_y=package.parameter[0];
+        *offset_z=package.parameter[1];
+
+#ifdef SERIAL_DEBUG
+        //printf("Offset_Y : 0x%02X Offset_Z : 0x%02X \r\n",*offset_y,*offset_z);
+#endif
+    }
+    return status;
+}
+
+
+
+uint8_t Bear_Communicate::SetBodyLength(uint8_t id,float body_length)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_BODY_LENGTH;
+    package.parameter[1]=body_length;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+
+uint8_t Bear_Communicate::GetBodyLength(uint8_t id,float *body_length)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = READ_DATA;
+    package.parameter[0]=GET_BODY_LENGTH;
+    package.parameter[1]=0x01;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    com->sendCommunicatePacket(&package);
+
+    rs485_dirc=0;
+    wait_us(RS485_DELAY);
+    uint8_t status = com->receiveCommunicatePacket(&package);
+    if(status == ANDANTE_ERRBIT_NONE) {
+
+        *body_length=package.parameter[0];
+
+#ifdef SERIAL_DEBUG
+        //printf("Body_Length : 0x%02X \r\n",*body_length);
+#endif
+    }
+    return status;
+}
+
+uint8_t Bear_Communicate::SetAngleRange(uint8_t id,float max_angle,float min_angle)
+{
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 5;
+    package.instructionErrorId = WRITE_DATA;
+    package.parameter[0]=SET_MAX_ANGLE;
+    package.parameter[1]=max_angle;
+    package.parameter[2]=min_angle;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    return com->sendCommunicatePacket(&package);
+}
+
+
+
+
+uint8_t Bear_Communicate::GetAngleRange(uint8_t id,float *max_angle,float *min_angle)
+{
+
+    ANDANTE_PROTOCOL_PACKET package;
+
+    package.robotId = id;
+    package.length = 4;
+    package.instructionErrorId = READ_DATA;
+    package.parameter[0]=GET_BODY_LENGTH;
+    package.parameter[1]=0x02;
+
+    rs485_dirc=1;
+    wait_us(RS485_DELAY);
+    com->sendCommunicatePacket(&package);
+    
+    rs485_dirc=0;
+    wait_us(RS485_DELAY);
+    uint8_t status = com->receiveCommunicatePacket(&package);
+    if(status == ANDANTE_ERRBIT_NONE) {
+
+        *max_angle=package.parameter[0];
+        *min_angle=package.parameter[1];
+
+#ifdef SERIAL_DEBUG
+        //printf("Max_angle : 0x%02X Min_angle : 0x%02X \r\n",*max_angle,*min,angle);
+#endif
+    }
+    return status;
+}
\ No newline at end of file