palm and chin
/
BEAR_Protocol_Edited
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Dependencies: Communication_Robot
Fork of
BEAR_Protocol
by 
BE@R lab
Revision 11:b34eababcf56, committed 2016-01-22
- Comitter:
- b0ssiz
- Date:
- Fri Jan 22 10:21:37 2016 +0000
- Parent:
- 10:2398eeafa967
- Child:
- 12:6296cb35f853
- Commit message:
- Update; - Change function setBodyLength to setBodyWidth; - Change function getBodyLength to getBodyWidth; - Change macro BODY_LENGTH to BODY_WIDTH
Changed in this revision
--- a/BEAR_Protocol.cpp Fri Jan 22 02:25:26 2016 +0000
+++ b/BEAR_Protocol.cpp Fri Jan 22 10:21:37 2016 +0000
@@ -817,21 +817,21 @@
-uint8_t Bear_Communicate::setBodyLength(uint8_t id,float body_length)
+uint8_t Bear_Communicate::setBodyWidth(uint8_t id,float body_width)
{
- uint8_t IntBodyLength[2],FloatBodyLength[2];
- FloatSep(body_length,IntBodyLength,FloatBodyLength);
+ uint8_t IntBodyWidth[2],FloatBodyWidth[2];
+ FloatSep(body_width,IntBodyWidth,FloatBodyWidth);
ANDANTE_PROTOCOL_PACKET package;
package.robotId = id;
package.length = 7;
package.instructionErrorId = WRITE_DATA;
- package.parameter[0]=BODY_LENGTH;
- package.parameter[1]=IntBodyLength[0];
- package.parameter[2]=IntBodyLength[1];
- package.parameter[3]=FloatBodyLength[0];
- package.parameter[4]=FloatBodyLength[1];
+ package.parameter[0]=BODY_WIDTH;
+ package.parameter[1]=IntBodyWidth[0];
+ package.parameter[2]=IntBodyWidth[1];
+ package.parameter[3]=FloatBodyWidth[0];
+ package.parameter[4]=FloatBodyWidth[1];
rs485_dirc=1;
wait_us(RS485_DELAY);
@@ -841,16 +841,16 @@
-uint8_t Bear_Communicate::getBodyLength(uint8_t id,float *body_length)
+uint8_t Bear_Communicate::getBodyWidth(uint8_t id,float *body_width)
{
- uint8_t IntBodyLength[2],FloatBodyLength[2];
+ uint8_t IntBodyWidth[2],FloatBodyWidth[2];
float int_buffer,float_buffer;
ANDANTE_PROTOCOL_PACKET package;
package.robotId = id;
package.length = 3;
package.instructionErrorId = READ_DATA;
- package.parameter[0]=BODY_LENGTH;
+ package.parameter[0]=BODY_WIDTH;
rs485_dirc=1;
@@ -861,13 +861,13 @@
wait_us(RS485_DELAY);
uint8_t status=com->receiveCommunicatePacket(&package);
if(status == ANDANTE_ERRBIT_NONE) {
- IntBodyLength[0]=package.parameter[0];
- IntBodyLength[1]=package.parameter[1];
- FloatBodyLength[0]=package.parameter[2];
- FloatBodyLength[1]=package.parameter[3];
- int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntBodyLength);
- float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatBodyLength)/FLOAT_CONVERTER;
- *body_length=int_buffer+float_buffer;
+ IntBodyWidth[0]=package.parameter[0];
+ IntBodyWidth[1]=package.parameter[1];
+ FloatBodyWidth[0]=package.parameter[2];
+ FloatBodyWidth[1]=package.parameter[3];
+ int_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(IntBodyWidth);
+ float_buffer=(float)Utilities::ConvertUInt8ArrayToInt16(FloatBodyWidth)/FLOAT_CONVERTER;
+ *body_width=int_buffer+float_buffer;
}
return status;
}
--- a/BEAR_Protocol.h Fri Jan 22 02:25:26 2016 +0000
+++ b/BEAR_Protocol.h Fri Jan 22 10:21:37 2016 +0000
@@ -32,7 +32,7 @@
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 setBodyWidth(uint8_t,float);
uint8_t setUpAngleRange(uint8_t,float,float);
uint8_t setLowAngleRange(uint8_t,float,float);
uint8_t setUpLinkLength(uint8_t,float);
@@ -49,7 +49,7 @@
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 getBodyWidth(uint8_t,float*);
uint8_t getUpAngleRange(uint8_t,float*,float*);
uint8_t getLowAngleRange(uint8_t,float*,float*);
uint8_t getUpLinkLength(uint8_t,float*);
--- a/Command.h Fri Jan 22 02:25:26 2016 +0000 +++ b/Command.h Fri Jan 22 10:21:37 2016 +0000 @@ -21,7 +21,7 @@ #define WHEELPOS 0x0E #define MAG_DATA 0x0F #define OFFSET 0x10 -#define BODY_LENGTH 0x11 +#define BODY_WIDTH 0x11 #define ANGLE_RANGE_UP 0x12 #define ANGLE_RANGE_LOW 0x13 #define UP_LINK_LENGTH 0x14