Diff: Command.h

Revision:

14:24d951efed53

Parent:

11:b34eababcf56

Child:

16:168de1acec53

--- a/Command.h	Wed Jan 27 12:53:16 2016 +0000
+++ b/Command.h	Mon Mar 21 20:20:57 2016 +0000
@@ -4,26 +4,29 @@
 #define WRITE_DATA   0x03
 
 //CONTROL TABLE
-#define ID                 0x00
-#define MOTOR_UPPER_ANG    0x01
-#define MOTOR_LOWER_ANG    0x02
-#define UP_MARGIN          0x03
-#define LOW_MARGIN         0x04
-#define KP_UPPER_MOTOR     0x05
-#define KI_UPPER_MOTOR     0x06
-#define KD_UPPER_MOTOR     0x07
-#define KP_LOWER_MOTOR     0x08
-#define KI_LOWER_MOTOR     0x09
-#define KD_LOWER_MOTOR     0x0A
-#define PID_UPPER_MOTOR    0x0B
-#define PID_LOWER_MOTOR    0x0C
-#define HEIGHT             0x0D
-#define WHEELPOS           0x0E
-#define MAG_DATA           0x0F
-#define OFFSET             0x10
-#define BODY_WIDTH         0x11
-#define ANGLE_RANGE_UP     0x12
-#define ANGLE_RANGE_LOW    0x13
-#define UP_LINK_LENGTH     0x14
-#define LOW_LINK_LENGTH    0x15
-#define SAVE_EEPROM_DATA   0x16
\ No newline at end of file
+#define ID                     0x00
+//Constructor
+#define SET_VELOCITY_LEFT      0x01
+#define SET_VELOCITY_RIGHT     0x02
+#define SET_VELOCITY_MAX_LEFT  0x03
+#define SET_VELOCITY_MAX_RIGHT 0x04
+#define SET_KP_LEFT            0x05
+#define SET_KI_LEFT            0x06
+#define SET_KD_LEFT            0x07
+#define SET_KP_RIGHT           0x08
+#define SET_KI_RIGHT           0x09
+#define SET_KD_RIGHT           0x0A
+#define GET_LIDAR              0x0B
+#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 RS485_DELAY 90
+#define RS485_DIRC PA_14
\ No newline at end of file