Diff: Command.h

Revision:

19:0f7ebbda19a4

Parent:

16:168de1acec53

--- a/Command.h	Tue Jun 07 03:16:54 2016 +0000
+++ b/Command.h	Tue Jun 07 16:16:32 2016 +0000
@@ -1,3 +1,4 @@
+//New
 //Instruction Set
 #define PING         0x01
 #define READ_DATA    0x02
@@ -16,25 +17,33 @@
 #define SET_KP_RIGHT           0x08
 #define SET_KI_RIGHT           0x09
 #define SET_KD_RIGHT           0x0A
-#define SET_ANGLE_MAX          0x17
-#define SET_ANGLE_MIN          0x18
-#define GET_LIDAR              0x1B
+#define SET_MAX_LIDAR_DEGREE   0x15
+#define SET_MIN_LIDAR_DEGREE   0x16
+#define SET_STEPSIDE_RPM       0x19
+
+#define GET_BATTERY            0x0C
+
+#define GET_VELOCITY_LEFT      0x0D
+#define GET_VELOCITY_RIGHT     0x0E
+
+#define GET_KP_LEFT            0x0F
+#define GET_KI_LEFT            0x10
+#define GET_KD_LEFT            0x11
+
+#define GET_KP_RIGHT           0x12
+#define GET_KI_RIGHT           0x13
+#define GET_KD_RIGHT           0x14
+
+#define GET_MAX_LIDAR_DEGREE   0x17
+#define GET_MIN_LIDAR_DEGREE   0x18
+#define GET_STEPSIDE_RPM       0x1A
+#define GET_LIDAR1             0x1B
 #define GET_LIDAR2             0x2B
 #define GET_LIDAR3             0x3B
 #define GET_LIDAR4             0x4B
 #define GET_LIDAR5             0x5B
 #define GET_LIDAR6             0x6B
-#define GET_BATTERY            0x0C
-#define GET_VELOCITY_LEFT      0x0D
-#define GET_VELOCITY_RIGHT     0x0E
-#define GET_KP_LEFT            0x0F
-#define GET_KI_LEFT            0x10
-#define GET_KD_LEFT            0x11
-#define GET_KP_RIGHT           0x12
-#define GET_KI_RIGHT           0x13
-#define GET_KD_RIGHT           0x14
 
-
+#define TEST_MAX_SEND          0x7B
 
-#define RS485_DELAY 90
 #define RS485_DIRC PA_14
\ No newline at end of file