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 2:d17ccaf938f6, committed 2015-12-23

Comitter:
b0ssiz
Date:
Wed Dec 23 13:20:18 2015 +0000
Parent:
1:2b18f3240c31
Child:
3:cad240b32dd6
Child:
4:9fbe67ca2f1b
Commit message:
debug

Changed in this revision

BEAR_Protocol.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/BEAR_Protocol.cpp	Wed Dec 23 13:08:23 2015 +0000
+++ b/BEAR_Protocol.cpp	Wed Dec 23 13:20:18 2015 +0000
@@ -1,6 +1,6 @@
 #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)
@@ -68,9 +68,6 @@
         *up_angle=(float)package.parameter[0];
         *low_angle=(float)package.parameter[1];
 
-#ifdef SERIAL_DEBUG
-        printf("up_angle : %f low_angle : %f \r\n", *up_angle,*low_angle);
-#endif
     }
     return status;
 }
@@ -153,9 +150,6 @@
         *Kp=package.parameter[0];
         *Ki=package.parameter[1];
         *Kd=package.parameter[2];
-#ifdef SERIAL_DEBUG
-        //printf("Kp : 0x%02X  Ki : 0x%02X Kd : 0x%02X \r\n", *Kp,*Ki,*Kd);
-#endif
     }
     return status;
 }
@@ -203,9 +197,6 @@
     if(status == ANDANTE_ERRBIT_NONE) {
 
         *margin=package.parameter[0];
-#ifdef SERIAL_DEBUG
-        //printf("Margin : 0x%02X \r\n", *margin);
-#endif
     }
     return status;
 }
@@ -250,9 +241,6 @@
 
         *height = package.parameter[0];
 
-#ifdef SERIAL_DEBUG
-        //printf("Height : 0x%02X \r\n", *height);
-#endif
     }
     return status;
 }
@@ -296,10 +284,6 @@
     if(status == ANDANTE_ERRBIT_NONE) {
 
         *WheelPos = package.parameter[0];
-
-#ifdef SERIAL_DEBUG
-        //printf("Wheel_position : 0x%02X \r\n", *WheelPos);
-#endif
     }
     return status;
 }
@@ -350,10 +334,6 @@
         *y_min=package.parameter[4];
         *z_min=package.parameter[5];
 
-
-#ifdef SERIAL_DEBUG
-        printf("X_max : 0x%02X Y_max : 0x%02X Z_max : 0x%02X X_min : 0x%02X Y_min : 0x%02X Z_min : 0x%02X \r\n",x_max,y_max,z_max,x_min,y_min,z_min);
-#endif
     }
     return status;
 }
@@ -399,10 +379,6 @@
 
         *offset_y=package.parameter[0];
         *offset_z=package.parameter[1];
-
-#ifdef SERIAL_DEBUG
-        //printf("Offset_Y : 0x%02X Offset_Z : 0x%02X \r\n",*offset_y,*offset_z);
-#endif
     }
     return status;
 }
@@ -447,10 +423,6 @@
     if(status == ANDANTE_ERRBIT_NONE) {
 
         *body_length=package.parameter[0];
-
-#ifdef SERIAL_DEBUG
-        //printf("Body_Length : 0x%02X \r\n",*body_length);
-#endif
     }
     return status;
 }
@@ -497,9 +469,6 @@
         *max_angle=package.parameter[0];
         *min_angle=package.parameter[1];
 
-#ifdef SERIAL_DEBUG
-        //printf("Max_angle : 0x%02X Min_angle : 0x%02X \r\n",*max_angle,*min,angle);
-#endif
     }
     return status;
 }
\ No newline at end of file