Diff: Command.h

Revision:

5:6f30b4ea4020

Parent:

0:fc963e08d580

Child:

7:ce4234c56410

--- a/Command.h	Fri Jan 15 15:52:31 2016 +0000
+++ b/Command.h	Fri Jan 15 17:02:08 2016 +0000
@@ -8,40 +8,46 @@
 #define SET_MOTOR_UPPER_ANG    0x01
 #define SET_MOTOR_LOWER_ANG    0x02
 #define SET_MARGIN             0x03
-#define SET_KP                 0x04
-#define SET_KI                 0x05
-#define SET_KD                 0x06
-#define SET_HEIGHT             0x07
-#define SET_WHEELPOS           0x08
-#define SET_MAG_X_MAX          0x09
-#define SET_MAG_Y_MAX          0x0A
-#define SET_MAG_Z_MAX          0x0B
-#define SET_MAG_X_MIN          0x0C
-#define SET_MAG_Y_MIN          0x0D
-#define SET_MAG_Z_MIN          0x0E
-#define SET_OFFSET_Y           0x0F
-#define SET_OFFSET_Z           0x10
-#define SET_BODY_LENGTH        0x11
-#define SET_MAX_ANGLE          0x12
-#define SET_MIN_ANGLE          0x13
+#define SET_KP_UPPER_MOTOR     0x04
+#define SET_KI_UPPER_MOTOR     0x05
+#define SET_KD_UPPER_MOTOR     0x06
+#define SET_KP_LOWER_MOTOR     0x07
+#define SET_KI_LOWER_MOTOR     0x08
+#define SET_KD_LOWER_MOTOR     0x09
+#define SET_HEIGHT             0x0A
+#define SET_WHEELPOS           0x0B
+#define SET_MAG_X_MAX          0x0C
+#define SET_MAG_Y_MAX          0x0D
+#define SET_MAG_Z_MAX          0x0E
+#define SET_MAG_X_MIN          0x0F
+#define SET_MAG_Y_MIN          0x10
+#define SET_MAG_Z_MIN          0x11
+#define SET_OFFSET_Y           0x12
+#define SET_OFFSET_Z           0x13
+#define SET_BODY_LENGTH        0x14
+#define SET_MAX_ANGLE          0x15
+#define SET_MIN_ANGLE          0x16
 
 
 #define GET_MOTOR_UPPER_ANG    0x32
 #define GET_MOTOR_LOWER_ANG    0x33
 #define GET_MARGIN             0x34
-#define GET_KP                 0x35
-#define GET_KI                 0x36
-#define GET_KD                 0x37
-#define GET_HEIGHT             0x38
-#define GET_WHEELPOS           0x39
-#define GET_MAG_X_MAX          0x3A
-#define GET_MAG_Y_MAX          0x3B
-#define GET_MAG_Z_MAX          0x3C
-#define GET_MAG_X_MIN          0x3D
-#define GET_MAG_Y_MIN          0x3E
-#define GET_MAG_Z_MIN          0x3F
-#define GET_OFFSET_Y           0x40
-#define GET_OFFSET_Z           0x41
+#define GET_KP_UPPER_MOTOR     0x35
+#define GET_KI_UPPER_MOTOR     0x36
+#define GET_KD_UPPER_MOTOR     0x37
+#define GET_KP_LOWER_MOTOR     0x38
+#define GET_KI_LOWER_MOTOR     0x39
+#define GET_KD_LOWER_MOTOR     0x3A
+#define GET_HEIGHT             0x3B
+#define GET_WHEELPOS           0x3C
+#define GET_MAG_X_MAX          0x3D
+#define GET_MAG_Y_MAX          0x3E
+#define GET_MAG_Z_MAX          0x3F
+#define GET_MAG_X_MIN          0x40
+#define GET_MAG_Y_MIN          0x41
+#define GET_MAG_Z_MIN          0x42
+#define GET_OFFSET_Y           0x43
+#define GET_OFFSET_Z           0x44
 #define GET_BODY_LENGTH        0x42
 #define GET_MAX_ANGLE          0x43
 #define GET_MIN_ANGLE          0x44
\ No newline at end of file