before test
Fork of Communication_Robot by
Diff: Receiver.cpp
- Revision:
- 13:bc19774be4df
- Parent:
- 11:3c11a0355a3e
- Child:
- 14:2b253d0b4e63
--- a/Receiver.cpp Sun Jun 05 09:43:16 2016 +0000 +++ b/Receiver.cpp Tue Jun 07 03:14:19 2016 +0000 @@ -1,6 +1,7 @@ #include "mbed.h" #include "Receiver.h" - +#include "rplidar.h" +RPLidar lidar1; DigitalOut rs485_dirc(RS485_DIRC); @@ -380,3 +381,32 @@ return com->sendCommunicatePacket(&package); } +uint8_t Bear_Receiver::sendlidar() +{ + int i=0,j=1,k=0; + uint8_t intData[2]={0x00,0x01},floatData[2]; + ANDANTE_PROTOCOL_PACKET package; + //BUFFER_SIZE=143 + package.robotId = 0x00; + package.length = 22;//122 + package.instructionErrorId = WRITE_DATA; + for(i=0;i<20;i++) + { + package.parameter[i]=0xAA; + } + /* while(k<60) + { //PC.printf("i= %d,j= %d,k = %d\n",i,j,k); + FloatSep( lidar1.Data[k],intData,floatData); + package.parameter[i]=intData[0]; + package.parameter[j]=intData[1]; + i=i+2; + j=j+2; + k++; + + }*/ + + rs485_dirc=1; + wait_us(RS485_DELAY); + return com->sendCommunicatePacket(&package); + +}