File content as of revision 5:6f30b4ea4020:

#include "mbed.h"
#include "BEAR_Protocol.h"
#define RS485_DELAY 90
#define FLOAT_CONVERTER 10000

DigitalOut rs485_dirc(RS485_DIRC);

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



void Bear_Communicate::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_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)
{
    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 = 11;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=SET_MOTOR_UPPER_ANG;
    package.parameter[1]=IntUpAngle[0];
    package.parameter[2]=IntUpAngle[1];
    package.parameter[3]=FloatUpAngle[0];
    package.parameter[4]=FloatUpAngle[1];
    package.parameter[5]=IntLowAngle[0];
    package.parameter[6]=IntLowAngle[1];
    package.parameter[7]=FloatLowAngle[0];
    package.parameter[8]=FloatLowAngle[1];

    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)
{
    uint8_t IntUpAngle[2],FloatUpAngle[2];
    uint8_t IntLowAngle[2],FloatLowAngle[2];
    float int_buffer,float_buffer;

    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) {
        IntUpAngle[0]=package.parameter[1];
        IntUpAngle[1]=package.parameter[2];
        FloatUpAngle[0]=package.parameter[3];
        FloatUpAngle[1]=package.parameter[4];
        int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntUpAngle);
        float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatUpAngle)/FLOAT_CONVERTER;
        *up_angle=int_buffer+float_buffer;

        IntLowAngle[0]=package.parameter[5];
        IntLowAngle[1]=package.parameter[6];
        FloatLowAngle[0]=package.parameter[7];
        FloatLowAngle[1]=package.parameter[8];
        int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntLowAngle);
        float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatLowAngle)/FLOAT_CONVERTER;
        *low_angle=int_buffer+float_buffer;;

    }
    return status;
}



uint8_t Bear_Communicate::setUpMotorKp(uint8_t id,float Kp)
{
    uint8_t IntKp[2],FloatKp[2];
    FloatSep(Kp,IntKp,FloatKp);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 7;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=SET_KP_UPPER_MOTOR;
    package.parameter[1]=IntKp[0];
    package.parameter[2]=IntKp[1];
    package.parameter[3]=FloatKp[0];
    package.parameter[4]=FloatKp[1];


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




uint8_t Bear_Communicate::setLowMotorKp(uint8_t id,float Kp)
{
    uint8_t IntKp[2],FloatKp[2];
    FloatSep(Kp,IntKp,FloatKp);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 7;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=SET_KP_LOWER_MOTOR;
    package.parameter[1]=IntKp[0];
    package.parameter[2]=IntKp[1];
    package.parameter[3]=FloatKp[0];
    package.parameter[4]=FloatKp[1];


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




uint8_t Bear_Communicate::setUpMotorKi(uint8_t id,float Ki)
{
    uint8_t IntKi[2],FloatKi[2];
    FloatSep(Ki,IntKi,FloatKi);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 4;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=SET_KI_UPPER_MOTOR;
    package.parameter[1]=IntKi[0];
    package.parameter[2]=IntKi[1];
    package.parameter[3]=FloatKi[0];
    package.parameter[4]=FloatKi[1];



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

}




uint8_t Bear_Communicate::setLowMotorKi(uint8_t id,float Ki)
{
    uint8_t IntKi[2],FloatKi[2];
    FloatSep(Ki,IntKi,FloatKi);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 4;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=SET_KI_LOWER_MOTOR;
    package.parameter[1]=IntKi[0];
    package.parameter[2]=IntKi[1];
    package.parameter[3]=FloatKi[0];
    package.parameter[4]=FloatKi[1];



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

}



uint8_t Bear_Communicate::setUpMotorKd(uint8_t id,float Kd)
{
    uint8_t IntKd[2],FloatKd[2];
    FloatSep(Kd,IntKd,FloatKd);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 7;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=SET_KD_UPPER_MOTOR;
    package.parameter[1]=IntKd[0];
    package.parameter[2]=IntKd[1];
    package.parameter[3]=FloatKd[0];
    package.parameter[4]=FloatKd[1];


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



uint8_t Bear_Communicate::setLowMotorKd(uint8_t id,float Kd)
{
    uint8_t IntKd[2],FloatKd[2];
    FloatSep(Kd,IntKd,FloatKd);

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 7;
    package.instructionErrorId = WRITE_DATA;
    package.parameter[0]=SET_KD_LOWER_MOTOR;
    package.parameter[1]=IntKd[0];
    package.parameter[2]=IntKd[1];
    package.parameter[3]=FloatKd[0];
    package.parameter[4]=FloatKd[1];


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



uint8_t Bear_Communicate::getUpMotorKpKiKd(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];
    float int_buffer,float_buffer;

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 4;
    package.instructionErrorId = READ_DATA;
    package.parameter[0]=GET_KP_UPPER_MOTOR;
    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) {
        IntKp[0]=package.parameter[0];
        IntKp[1]=package.parameter[1];
        FloatKp[0]=package.parameter[2];
        FloatKp[1]=package.parameter[3];
        int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKp);
        float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKp)/FLOAT_CONVERTER;
        *Kp=int_buffer+float_buffer;

        IntKi[0]=package.parameter[4];
        IntKi[1]=package.parameter[5];
        FloatKi[0]=package.parameter[6];
        FloatKi[1]=package.parameter[7];
        int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKi);
        float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKi)/FLOAT_CONVERTER;
        *Ki=int_buffer+float_buffer;

        IntKi[0]=package.parameter[8];
        IntKi[1]=package.parameter[9];
        FloatKi[0]=package.parameter[10];
        FloatKi[1]=package.parameter[11];
        int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKd);
        float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKd)/FLOAT_CONVERTER;
        *Kd=int_buffer+float_buffer;
    }
    return status;
}


uint8_t Bear_Communicate::getLowMotorKpKiKd(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];
    float int_buffer,float_buffer;

    ANDANTE_PROTOCOL_PACKET package;

    package.robotId = id;
    package.length = 4;
    package.instructionErrorId = READ_DATA;
    package.parameter[0]=GET_KP_LOWER_MOTOR;
    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) {
        IntKp[0]=package.parameter[0];
        IntKp[1]=package.parameter[1];
        FloatKp[0]=package.parameter[2];
        FloatKp[1]=package.parameter[3];
        int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKp);
        float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKp)/FLOAT_CONVERTER;
        *Kp=int_buffer+float_buffer;

        IntKi[0]=package.parameter[4];
        IntKi[1]=package.parameter[5];
        FloatKi[0]=package.parameter[6];
        FloatKi[1]=package.parameter[7];
        int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKi);
        float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKi)/FLOAT_CONVERTER;
        *Ki=int_buffer+float_buffer;

        IntKi[0]=package.parameter[8];
        IntKi[1]=package.parameter[9];
        FloatKi[0]=package.parameter[10];
        FloatKi[1]=package.parameter[11];
        int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntKd);
        float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatKd)/FLOAT_CONVERTER;
        *Kd=int_buffer+float_buffer;
    }
    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];
    }
    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];

    }
    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];
    }
    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];

    }
    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];
    }
    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];
    }
    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];

    }
    return status;
}