Arsapol Manamunchaiyaporn
before test
Dependencies: Communication_Robot
Fork of
BEAR_Protocol_Edited
by 
phirawat rattanachote
Command.h@20:9f6ccea3d8f9, 2016-06-07 (annotated)
- Committer:
- icyzkungz
- Date:
- Tue Jun 07 16:17:04 2016 +0000
- Revision:
- 20:9f6ccea3d8f9
- Parent:
- 19:0f7ebbda19a4
before test
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| icyzkungz | 19:0f7ebbda19a4 | 1 | //New |
| b0ssiz | 0:fc963e08d580 | 2 | //Instruction Set |
| b0ssiz | 0:fc963e08d580 | 3 | #define PING 0x01 |
| b0ssiz | 0:fc963e08d580 | 4 | #define READ_DATA 0x02 |
| b0ssiz | 0:fc963e08d580 | 5 | #define WRITE_DATA 0x03 |
| b0ssiz | 0:fc963e08d580 | 6 | |
| b0ssiz | 0:fc963e08d580 | 7 | //CONTROL TABLE |
| palmdotax | 14:24d951efed53 | 8 | #define ID 0x00 |
| palmdotax | 14:24d951efed53 | 9 | //Constructor |
| palmdotax | 14:24d951efed53 | 10 | #define SET_VELOCITY_LEFT 0x01 |
| palmdotax | 14:24d951efed53 | 11 | #define SET_VELOCITY_RIGHT 0x02 |
| palmdotax | 14:24d951efed53 | 12 | #define SET_VELOCITY_MAX_LEFT 0x03 |
| palmdotax | 14:24d951efed53 | 13 | #define SET_VELOCITY_MAX_RIGHT 0x04 |
| palmdotax | 14:24d951efed53 | 14 | #define SET_KP_LEFT 0x05 |
| palmdotax | 14:24d951efed53 | 15 | #define SET_KI_LEFT 0x06 |
| palmdotax | 14:24d951efed53 | 16 | #define SET_KD_LEFT 0x07 |
| palmdotax | 14:24d951efed53 | 17 | #define SET_KP_RIGHT 0x08 |
| palmdotax | 14:24d951efed53 | 18 | #define SET_KI_RIGHT 0x09 |
| palmdotax | 14:24d951efed53 | 19 | #define SET_KD_RIGHT 0x0A |
| icyzkungz | 19:0f7ebbda19a4 | 20 | #define SET_MAX_LIDAR_DEGREE 0x15 |
| icyzkungz | 19:0f7ebbda19a4 | 21 | #define SET_MIN_LIDAR_DEGREE 0x16 |
| icyzkungz | 19:0f7ebbda19a4 | 22 | #define SET_STEPSIDE_RPM 0x19 |
| icyzkungz | 19:0f7ebbda19a4 | 23 | |
| icyzkungz | 19:0f7ebbda19a4 | 24 | #define GET_BATTERY 0x0C |
| icyzkungz | 19:0f7ebbda19a4 | 25 | |
| icyzkungz | 19:0f7ebbda19a4 | 26 | #define GET_VELOCITY_LEFT 0x0D |
| icyzkungz | 19:0f7ebbda19a4 | 27 | #define GET_VELOCITY_RIGHT 0x0E |
| icyzkungz | 19:0f7ebbda19a4 | 28 | |
| icyzkungz | 19:0f7ebbda19a4 | 29 | #define GET_KP_LEFT 0x0F |
| icyzkungz | 19:0f7ebbda19a4 | 30 | #define GET_KI_LEFT 0x10 |
| icyzkungz | 19:0f7ebbda19a4 | 31 | #define GET_KD_LEFT 0x11 |
| icyzkungz | 19:0f7ebbda19a4 | 32 | |
| icyzkungz | 19:0f7ebbda19a4 | 33 | #define GET_KP_RIGHT 0x12 |
| icyzkungz | 19:0f7ebbda19a4 | 34 | #define GET_KI_RIGHT 0x13 |
| icyzkungz | 19:0f7ebbda19a4 | 35 | #define GET_KD_RIGHT 0x14 |
| icyzkungz | 19:0f7ebbda19a4 | 36 | |
| icyzkungz | 19:0f7ebbda19a4 | 37 | #define GET_MAX_LIDAR_DEGREE 0x17 |
| icyzkungz | 19:0f7ebbda19a4 | 38 | #define GET_MIN_LIDAR_DEGREE 0x18 |
| icyzkungz | 19:0f7ebbda19a4 | 39 | #define GET_STEPSIDE_RPM 0x1A |
| icyzkungz | 19:0f7ebbda19a4 | 40 | #define GET_LIDAR1 0x1B |
| palmdotax | 16:168de1acec53 | 41 | #define GET_LIDAR2 0x2B |
| palmdotax | 16:168de1acec53 | 42 | #define GET_LIDAR3 0x3B |
| palmdotax | 16:168de1acec53 | 43 | #define GET_LIDAR4 0x4B |
| palmdotax | 16:168de1acec53 | 44 | #define GET_LIDAR5 0x5B |
| palmdotax | 16:168de1acec53 | 45 | #define GET_LIDAR6 0x6B |
| palmdotax | 14:24d951efed53 | 46 | |
| icyzkungz | 19:0f7ebbda19a4 | 47 | #define TEST_MAX_SEND 0x7B |
| palmdotax | 16:168de1acec53 | 48 | |
| palmdotax | 14:24d951efed53 | 49 | #define RS485_DIRC PA_14 |