v1
Fork of Fork_Boss_Communication_Robot by
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