palm and chin / BEAR_Protocol_Edited

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Dependencies:   Communication_Robot

Fork of BEAR_Protocol by BE@R lab

BEAR_Protocol.cpp

Committer:
b0ssiz
Date:
2015-12-23
Revision:
2:d17ccaf938f6
Parent:
0:fc963e08d580
Child:
4:9fbe67ca2f1b

File content as of revision 2:d17ccaf938f6:

#include "mbed.h"
#include "BEAR_Protocol.h"
#define RS485_DELAY 90
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];

    }
    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];
    }
    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;
}