Diff: Command.h

Revision:

0:fc963e08d580

Child:

5:6f30b4ea4020

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Command.h	Wed Dec 23 13:05:53 2015 +0000
@@ -0,0 +1,47 @@
+//Instruction Set
+#define PING         0x01
+#define READ_DATA    0x02
+#define WRITE_DATA   0x03
+
+//CONTROL TABLE
+#define SET_ID                 0x00
+#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 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_BODY_LENGTH        0x42
+#define GET_MAX_ANGLE          0x43
+#define GET_MIN_ANGLE          0x44
\ No newline at end of file