File content as of revision 14:24d951efed53:

//Instruction Set
#define PING         0x01
#define READ_DATA    0x02
#define WRITE_DATA   0x03

//CONTROL TABLE
#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