palm and chin / BEAR_Protocol_Edited

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Dependencies:   Communication_Robot

Fork of BEAR_Protocol by BE@R lab

BEAR_Protocol.h

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

File content as of revision 0:fc963e08d580:

#include "mbed.h"
#include "iSerial.h"
#include "Command.h"
#include "communication.h"

#define SERIAL_DEBUG
#define RS485_DELAY 90
#define RS485_DIRC PA_14



class Bear_Communicate
{
private:
    COMMUNICATION *com;

public:
    Bear_Communicate(PinName,PinName,int);

// Set Command
    uint8_t SetID(uint8_t,uint8_t);
    uint8_t SetMotorPos(uint8_t,float,float);
    uint8_t SetKp(uint8_t,float);
    uint8_t SetKi(uint8_t,float);
    uint8_t SetKd(uint8_t,float);
    //EEPROM
    uint8_t SetMargin(uint8_t,float);
    uint8_t SetHeight(uint8_t,float);
    uint8_t SetWheelPos(uint8_t,float);
    uint8_t SetMagData(uint8_t,float,float,float,float,float,float);
    uint8_t SetOffset(uint8_t,float,float);
    uint8_t SetBodyLength(uint8_t,float);
    uint8_t SetAngleRange(uint8_t,float,float);
    
// Get Command
    uint8_t GetMotorPos(uint8_t,float*,float*);
    uint8_t GetKpKiKd(uint8_t,float*,float*,float*);
    //EEPROM
    uint8_t GetMargin(uint8_t,float*);
    uint8_t GetHeight(uint8_t,float*);
    uint8_t GetWheelPos(uint8_t,float*);
    uint8_t GetMagData(uint8_t,float*,float*,float*,float*,float*,float*);
    uint8_t GetOffset(uint8_t,float*,float*);
    uint8_t GetBodyLength(uint8_t,float*);
    uint8_t GetAngleRange(uint8_t,float*,float*);
};