before test
Fork of Communication_Robot by
Receiver.cpp@14:2b253d0b4e63, 2016-06-07 (annotated)
- Committer:
- icyzkungz
- Date:
- Tue Jun 07 16:16:27 2016 +0000
- Revision:
- 14:2b253d0b4e63
- Parent:
- 13:bc19774be4df
before test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
palmdotax | 11:3c11a0355a3e | 1 | #include "mbed.h" |
palmdotax | 11:3c11a0355a3e | 2 | #include "Receiver.h" |
palmdotax | 13:bc19774be4df | 3 | #include "rplidar.h" |
palmdotax | 13:bc19774be4df | 4 | RPLidar lidar1; |
palmdotax | 11:3c11a0355a3e | 5 | |
palmdotax | 11:3c11a0355a3e | 6 | DigitalOut rs485_dirc(RS485_DIRC); |
palmdotax | 11:3c11a0355a3e | 7 | |
palmdotax | 11:3c11a0355a3e | 8 | Bear_Receiver::Bear_Receiver(PinName tx,PinName rx,int baudrate) |
palmdotax | 11:3c11a0355a3e | 9 | { |
palmdotax | 11:3c11a0355a3e | 10 | com = new COMMUNICATION(tx,rx,baudrate); |
palmdotax | 11:3c11a0355a3e | 11 | } |
palmdotax | 11:3c11a0355a3e | 12 | |
palmdotax | 11:3c11a0355a3e | 13 | uint8_t Bear_Receiver::ReceiveCommand(uint8_t *id,uint8_t *data_array,uint8_t *ins) |
palmdotax | 11:3c11a0355a3e | 14 | { |
palmdotax | 11:3c11a0355a3e | 15 | ANDANTE_PROTOCOL_PACKET package; |
palmdotax | 11:3c11a0355a3e | 16 | |
palmdotax | 11:3c11a0355a3e | 17 | rs485_dirc=0; |
palmdotax | 11:3c11a0355a3e | 18 | wait_us(RS485_DELAY); |
palmdotax | 11:3c11a0355a3e | 19 | uint8_t status = com->receiveCommunicatePacket(&package); |
palmdotax | 11:3c11a0355a3e | 20 | |
palmdotax | 11:3c11a0355a3e | 21 | if(status == ANDANTE_ERRBIT_NONE) { |
palmdotax | 11:3c11a0355a3e | 22 | |
palmdotax | 11:3c11a0355a3e | 23 | *id = package.robotId; |
palmdotax | 11:3c11a0355a3e | 24 | for(int i=0; i<30; i++) { |
palmdotax | 11:3c11a0355a3e | 25 | data_array[i] = package.parameter[i]; |
palmdotax | 11:3c11a0355a3e | 26 | } |
palmdotax | 11:3c11a0355a3e | 27 | *ins=package.instructionErrorId; |
palmdotax | 11:3c11a0355a3e | 28 | |
palmdotax | 11:3c11a0355a3e | 29 | } |
palmdotax | 11:3c11a0355a3e | 30 | return status; |
palmdotax | 11:3c11a0355a3e | 31 | } |
palmdotax | 11:3c11a0355a3e | 32 | |
palmdotax | 11:3c11a0355a3e | 33 | void Bear_Receiver::FloatSep(float input_float,uint8_t *int_data_array,uint8_t *float_data_array) |
palmdotax | 11:3c11a0355a3e | 34 | { |
palmdotax | 11:3c11a0355a3e | 35 | float float_buffer; |
palmdotax | 11:3c11a0355a3e | 36 | float int_buffer; |
palmdotax | 11:3c11a0355a3e | 37 | int16_t integer; |
palmdotax | 11:3c11a0355a3e | 38 | int16_t floating_point; |
palmdotax | 11:3c11a0355a3e | 39 | |
palmdotax | 11:3c11a0355a3e | 40 | float_buffer=modf(input_float,&int_buffer); |
palmdotax | 11:3c11a0355a3e | 41 | float_buffer*=FLOAT_CONVERTER; |
palmdotax | 11:3c11a0355a3e | 42 | integer=(int16_t)int_buffer; |
palmdotax | 11:3c11a0355a3e | 43 | floating_point=(int16_t)float_buffer; |
palmdotax | 11:3c11a0355a3e | 44 | Utilities::ConvertInt16ToUInt8Array(integer,int_data_array); |
palmdotax | 11:3c11a0355a3e | 45 | Utilities::ConvertInt16ToUInt8Array(floating_point,float_data_array); |
palmdotax | 11:3c11a0355a3e | 46 | } |
palmdotax | 11:3c11a0355a3e | 47 | |
icyzkungz | 14:2b253d0b4e63 | 48 | uint8_t Bear_Receiver::sendKpKiKdLeft(float Kp,float Ki,float Kd) |
palmdotax | 11:3c11a0355a3e | 49 | { |
palmdotax | 11:3c11a0355a3e | 50 | uint8_t IntKp[2],FloatKp[2]; |
palmdotax | 11:3c11a0355a3e | 51 | uint8_t IntKi[2],FloatKi[2]; |
palmdotax | 11:3c11a0355a3e | 52 | uint8_t IntKd[2],FloatKd[2]; |
palmdotax | 11:3c11a0355a3e | 53 | |
palmdotax | 11:3c11a0355a3e | 54 | FloatSep(Kp,IntKp,FloatKp); |
palmdotax | 11:3c11a0355a3e | 55 | FloatSep(Ki,IntKi,FloatKi); |
palmdotax | 11:3c11a0355a3e | 56 | FloatSep(Kd,IntKd,FloatKd); |
palmdotax | 11:3c11a0355a3e | 57 | |
palmdotax | 11:3c11a0355a3e | 58 | |
palmdotax | 11:3c11a0355a3e | 59 | ANDANTE_PROTOCOL_PACKET package; |
palmdotax | 11:3c11a0355a3e | 60 | |
icyzkungz | 14:2b253d0b4e63 | 61 | package.robotId = ID; |
palmdotax | 11:3c11a0355a3e | 62 | package.length = 14; |
palmdotax | 11:3c11a0355a3e | 63 | package.instructionErrorId = WRITE_DATA; |
palmdotax | 11:3c11a0355a3e | 64 | package.parameter[0]=IntKp[0]; |
palmdotax | 11:3c11a0355a3e | 65 | package.parameter[1]=IntKp[1]; |
palmdotax | 11:3c11a0355a3e | 66 | package.parameter[2]=FloatKp[0]; |
palmdotax | 11:3c11a0355a3e | 67 | package.parameter[3]=FloatKp[1]; |
palmdotax | 11:3c11a0355a3e | 68 | package.parameter[4]=IntKi[0]; |
palmdotax | 11:3c11a0355a3e | 69 | package.parameter[5]=IntKi[1]; |
palmdotax | 11:3c11a0355a3e | 70 | package.parameter[6]=FloatKi[0]; |
palmdotax | 11:3c11a0355a3e | 71 | package.parameter[7]=FloatKi[1]; |
palmdotax | 11:3c11a0355a3e | 72 | package.parameter[8]=IntKd[0]; |
palmdotax | 11:3c11a0355a3e | 73 | package.parameter[9]=IntKd[1]; |
palmdotax | 11:3c11a0355a3e | 74 | package.parameter[10]=FloatKd[0]; |
palmdotax | 11:3c11a0355a3e | 75 | package.parameter[11]=FloatKd[1]; |
palmdotax | 11:3c11a0355a3e | 76 | |
palmdotax | 11:3c11a0355a3e | 77 | wait_us(RS485_DELAY); |
palmdotax | 11:3c11a0355a3e | 78 | return com->sendCommunicatePacket(&package); |
palmdotax | 11:3c11a0355a3e | 79 | } |
palmdotax | 11:3c11a0355a3e | 80 | |
icyzkungz | 14:2b253d0b4e63 | 81 | uint8_t Bear_Receiver::sendKpKiKdRight(float Kp,float Ki,float Kd) |
palmdotax | 11:3c11a0355a3e | 82 | { |
palmdotax | 11:3c11a0355a3e | 83 | uint8_t IntKp[2],FloatKp[2]; |
palmdotax | 11:3c11a0355a3e | 84 | uint8_t IntKi[2],FloatKi[2]; |
palmdotax | 11:3c11a0355a3e | 85 | uint8_t IntKd[2],FloatKd[2]; |
palmdotax | 11:3c11a0355a3e | 86 | |
palmdotax | 11:3c11a0355a3e | 87 | FloatSep(Kp,IntKp,FloatKp); |
palmdotax | 11:3c11a0355a3e | 88 | FloatSep(Ki,IntKi,FloatKi); |
palmdotax | 11:3c11a0355a3e | 89 | FloatSep(Kd,IntKd,FloatKd); |
palmdotax | 11:3c11a0355a3e | 90 | |
palmdotax | 11:3c11a0355a3e | 91 | |
palmdotax | 11:3c11a0355a3e | 92 | ANDANTE_PROTOCOL_PACKET package; |
palmdotax | 11:3c11a0355a3e | 93 | |
icyzkungz | 14:2b253d0b4e63 | 94 | package.robotId = ID; |
palmdotax | 11:3c11a0355a3e | 95 | package.length = 14; |
palmdotax | 11:3c11a0355a3e | 96 | package.instructionErrorId = WRITE_DATA; |
palmdotax | 11:3c11a0355a3e | 97 | package.parameter[0]=IntKp[0]; |
palmdotax | 11:3c11a0355a3e | 98 | package.parameter[1]=IntKp[1]; |
palmdotax | 11:3c11a0355a3e | 99 | package.parameter[2]=FloatKp[0]; |
palmdotax | 11:3c11a0355a3e | 100 | package.parameter[3]=FloatKp[1]; |
palmdotax | 11:3c11a0355a3e | 101 | package.parameter[4]=IntKi[0]; |
palmdotax | 11:3c11a0355a3e | 102 | package.parameter[5]=IntKi[1]; |
palmdotax | 11:3c11a0355a3e | 103 | package.parameter[6]=FloatKi[0]; |
palmdotax | 11:3c11a0355a3e | 104 | package.parameter[7]=FloatKi[1]; |
palmdotax | 11:3c11a0355a3e | 105 | package.parameter[8]=IntKd[0]; |
palmdotax | 11:3c11a0355a3e | 106 | package.parameter[9]=IntKd[1]; |
palmdotax | 11:3c11a0355a3e | 107 | package.parameter[10]=FloatKd[0]; |
palmdotax | 11:3c11a0355a3e | 108 | package.parameter[11]=FloatKd[1]; |
palmdotax | 11:3c11a0355a3e | 109 | |
palmdotax | 11:3c11a0355a3e | 110 | rs485_dirc=1; |
palmdotax | 11:3c11a0355a3e | 111 | wait_us(RS485_DELAY); |
palmdotax | 11:3c11a0355a3e | 112 | return com->sendCommunicatePacket(&package); |
palmdotax | 11:3c11a0355a3e | 113 | } |
palmdotax | 11:3c11a0355a3e | 114 | |
icyzkungz | 14:2b253d0b4e63 | 115 | uint8_t Bear_Receiver::sendMaxMinLidarDegree(float Kp,float Ki) |
icyzkungz | 14:2b253d0b4e63 | 116 | { |
icyzkungz | 14:2b253d0b4e63 | 117 | uint8_t IntKp[2],FloatKp[2]; |
icyzkungz | 14:2b253d0b4e63 | 118 | uint8_t IntKi[2],FloatKi[2]; |
icyzkungz | 14:2b253d0b4e63 | 119 | |
icyzkungz | 14:2b253d0b4e63 | 120 | FloatSep(Kp,IntKp,FloatKp); |
icyzkungz | 14:2b253d0b4e63 | 121 | FloatSep(Ki,IntKi,FloatKi); |
palmdotax | 11:3c11a0355a3e | 122 | |
palmdotax | 11:3c11a0355a3e | 123 | |
palmdotax | 11:3c11a0355a3e | 124 | ANDANTE_PROTOCOL_PACKET package; |
palmdotax | 11:3c11a0355a3e | 125 | |
icyzkungz | 14:2b253d0b4e63 | 126 | package.robotId = ID; |
icyzkungz | 14:2b253d0b4e63 | 127 | package.length = 10; |
palmdotax | 11:3c11a0355a3e | 128 | package.instructionErrorId = WRITE_DATA; |
icyzkungz | 14:2b253d0b4e63 | 129 | package.parameter[0]=IntKp[0]; |
icyzkungz | 14:2b253d0b4e63 | 130 | package.parameter[1]=IntKp[1]; |
icyzkungz | 14:2b253d0b4e63 | 131 | package.parameter[2]=FloatKp[0]; |
icyzkungz | 14:2b253d0b4e63 | 132 | package.parameter[3]=FloatKp[1]; |
icyzkungz | 14:2b253d0b4e63 | 133 | package.parameter[4]=IntKi[0]; |
icyzkungz | 14:2b253d0b4e63 | 134 | package.parameter[5]=IntKi[1]; |
icyzkungz | 14:2b253d0b4e63 | 135 | package.parameter[6]=FloatKi[0]; |
icyzkungz | 14:2b253d0b4e63 | 136 | package.parameter[7]=FloatKi[1]; |
palmdotax | 11:3c11a0355a3e | 137 | |
palmdotax | 11:3c11a0355a3e | 138 | rs485_dirc=1; |
palmdotax | 11:3c11a0355a3e | 139 | wait_us(RS485_DELAY); |
palmdotax | 11:3c11a0355a3e | 140 | return com->sendCommunicatePacket(&package); |
palmdotax | 11:3c11a0355a3e | 141 | } |
palmdotax | 11:3c11a0355a3e | 142 | |
icyzkungz | 14:2b253d0b4e63 | 143 | uint8_t Bear_Receiver::sendSensorDataAll1(float *data) |
palmdotax | 11:3c11a0355a3e | 144 | { |
icyzkungz | 14:2b253d0b4e63 | 145 | uint8_t IntArray[2],FloatArray[2]; |
palmdotax | 11:3c11a0355a3e | 146 | |
palmdotax | 11:3c11a0355a3e | 147 | ANDANTE_PROTOCOL_PACKET package; |
palmdotax | 11:3c11a0355a3e | 148 | |
icyzkungz | 14:2b253d0b4e63 | 149 | package.robotId = ID; |
icyzkungz | 14:2b253d0b4e63 | 150 | package.length = 42; |
palmdotax | 11:3c11a0355a3e | 151 | package.instructionErrorId = WRITE_DATA; |
icyzkungz | 14:2b253d0b4e63 | 152 | int k=0; |
icyzkungz | 14:2b253d0b4e63 | 153 | for(int i=0; i<40; i++) { |
icyzkungz | 14:2b253d0b4e63 | 154 | if(i%2==0) |
icyzkungz | 14:2b253d0b4e63 | 155 | { |
icyzkungz | 14:2b253d0b4e63 | 156 | FloatSep(data[k],IntArray,FloatArray); |
icyzkungz | 14:2b253d0b4e63 | 157 | package.parameter[i-2]=IntArray[0]; |
icyzkungz | 14:2b253d0b4e63 | 158 | package.parameter[i-1]=IntArray[1]; |
icyzkungz | 14:2b253d0b4e63 | 159 | k++; |
icyzkungz | 14:2b253d0b4e63 | 160 | } |
icyzkungz | 14:2b253d0b4e63 | 161 | if(i==39) |
icyzkungz | 14:2b253d0b4e63 | 162 | { |
icyzkungz | 14:2b253d0b4e63 | 163 | FloatSep(data[k],IntArray,FloatArray); |
icyzkungz | 14:2b253d0b4e63 | 164 | package.parameter[i-2]=IntArray[0]; |
icyzkungz | 14:2b253d0b4e63 | 165 | package.parameter[i-1]=IntArray[1]; |
icyzkungz | 14:2b253d0b4e63 | 166 | } |
icyzkungz | 14:2b253d0b4e63 | 167 | } |
palmdotax | 11:3c11a0355a3e | 168 | |
icyzkungz | 14:2b253d0b4e63 | 169 | uint8_t status = com->sendCommunicatePacket(&package); |
palmdotax | 11:3c11a0355a3e | 170 | wait_us(RS485_DELAY); |
icyzkungz | 14:2b253d0b4e63 | 171 | return status; |
palmdotax | 11:3c11a0355a3e | 172 | |
icyzkungz | 14:2b253d0b4e63 | 173 | //xxxxxxxx |
icyzkungz | 14:2b253d0b4e63 | 174 | /*uint8_t IntKp[2],FloatKp[2]; |
icyzkungz | 14:2b253d0b4e63 | 175 | uint8_t IntKi[2],FloatKi[2]; |
icyzkungz | 14:2b253d0b4e63 | 176 | |
icyzkungz | 14:2b253d0b4e63 | 177 | FloatSep(Kp,IntKp,FloatKp); |
icyzkungz | 14:2b253d0b4e63 | 178 | FloatSep(Ki,IntKi,FloatKi); |
icyzkungz | 14:2b253d0b4e63 | 179 | |
icyzkungz | 14:2b253d0b4e63 | 180 | |
palmdotax | 11:3c11a0355a3e | 181 | ANDANTE_PROTOCOL_PACKET package; |
palmdotax | 11:3c11a0355a3e | 182 | |
icyzkungz | 14:2b253d0b4e63 | 183 | package.robotId = ID; |
palmdotax | 11:3c11a0355a3e | 184 | package.length = 10; |
palmdotax | 11:3c11a0355a3e | 185 | package.instructionErrorId = WRITE_DATA; |
icyzkungz | 14:2b253d0b4e63 | 186 | package.parameter[0]=IntKp[0]; |
icyzkungz | 14:2b253d0b4e63 | 187 | package.parameter[1]=IntKp[1]; |
icyzkungz | 14:2b253d0b4e63 | 188 | package.parameter[2]=FloatKp[0]; |
icyzkungz | 14:2b253d0b4e63 | 189 | package.parameter[3]=FloatKp[1]; |
icyzkungz | 14:2b253d0b4e63 | 190 | package.parameter[4]=IntKi[0]; |
icyzkungz | 14:2b253d0b4e63 | 191 | package.parameter[5]=IntKi[1]; |
icyzkungz | 14:2b253d0b4e63 | 192 | package.parameter[6]=FloatKi[0]; |
icyzkungz | 14:2b253d0b4e63 | 193 | package.parameter[7]=FloatKi[1]; |
palmdotax | 11:3c11a0355a3e | 194 | |
palmdotax | 11:3c11a0355a3e | 195 | rs485_dirc=1; |
palmdotax | 11:3c11a0355a3e | 196 | wait_us(RS485_DELAY); |
icyzkungz | 14:2b253d0b4e63 | 197 | return com->sendCommunicatePacket(&package);*/ |
icyzkungz | 14:2b253d0b4e63 | 198 | } |