Diff: Receiver.h

Revision:

11:3c11a0355a3e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Receiver.h	Mon Mar 21 20:20:42 2016 +0000
@@ -0,0 +1,40 @@
+#ifndef __RECEIVER__H_
+#define __RECEIVER__H_
+
+#include "mbed.h"
+#include "iSerial.h"
+#include "Command.h"
+#include "communication.h"
+#define RS485_DELAY 90
+#define RS485_DIRC PB_5
+#define FLOAT_CONVERTER 10000
+
+class Bear_Receiver
+{
+private:
+    COMMUNICATION *com;
+
+public:
+    Bear_Receiver(PinName,PinName,int);
+    void FloatSep(float,uint8_t*,uint8_t*);
+
+    //Receiver
+    uint8_t ReceiveCommand(uint8_t*,uint8_t*,uint8_t*);
+    //Sender
+    uint8_t sendMotorPos(uint8_t,float,float);
+    uint8_t sendUpMotorKpKiKd(uint8_t,float,float,float);
+    uint8_t sendLowMotorKpKiKd(uint8_t,float,float,float);
+    uint8_t sendUpMargin(uint8_t,float);
+    uint8_t sendLowMargin(uint8_t,float);
+    uint8_t sendHeight(uint8_t,uint8_t*);
+    uint8_t sendWheelPos(uint8_t,uint8_t*);
+    uint8_t sendMagData(uint8_t,uint8_t*);
+    uint8_t sendOffset(uint8_t,uint8_t*);
+    uint8_t sendBodyWidth(uint8_t,uint8_t*);
+    uint8_t sendUpAngleRange(uint8_t,uint8_t*);
+    uint8_t sendLowAngleRange(uint8_t,uint8_t*);
+    uint8_t sendUpLinkLength(uint8_t,uint8_t*);
+    uint8_t sendLowLinkLength(uint8_t,uint8_t*);
+};
+
+#endif