palm and chin / BEAR_Protocol_Edited

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Dependencies:   Communication_Robot

Fork of BEAR_Protocol by BE@R lab

Files at this revision

API Documentation at this revision

Revision 6:07749b50d600, committed 2016-01-16

Comitter:
b0ssiz
Date:
Sat Jan 16 00:15:38 2016 +0000
Parent:
5:6f30b4ea4020
Child:
7:ce4234c56410
Commit message:
Fix bug setMotorPos parameter

Changed in this revision

BEAR_Protocol.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/BEAR_Protocol.cpp	Fri Jan 15 17:02:08 2016 +0000
+++ b/BEAR_Protocol.cpp	Sat Jan 16 00:15:38 2016 +0000
@@ -98,18 +98,18 @@
     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];
+        IntUpAngle[0]=package.parameter[0];
+        IntUpAngle[1]=package.parameter[1];
+        FloatUpAngle[0]=package.parameter[2];
+        FloatUpAngle[1]=package.parameter[3];
         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];
+        IntLowAngle[0]=package.parameter[4];
+        IntLowAngle[1]=package.parameter[5];
+        FloatLowAngle[0]=package.parameter[6];
+        FloatLowAngle[1]=package.parameter[7];
         int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntLowAngle);
         float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatLowAngle)/FLOAT_CONVERTER;
         *low_angle=int_buffer+float_buffer;;