phirawat rattanachote
/
Communication_Robot
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Communication_Robot
by 
Betago
Revision 14:cf43df0ddb93, committed 2016-06-07
- Comitter:
- palmdotax
- Date:
- Tue Jun 07 17:22:37 2016 +0000
- Parent:
- 13:bc19774be4df
- Commit message:
- v2
Changed in this revision
| Receiver.cpp | Show annotated file Show diff for this revision Revisions of this file |
| Receiver.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/Receiver.cpp Tue Jun 07 03:14:19 2016 +0000
+++ b/Receiver.cpp Tue Jun 07 17:22:37 2016 +0000
@@ -390,11 +390,8 @@
package.robotId = 0x00;
package.length = 22;//122
package.instructionErrorId = WRITE_DATA;
- for(i=0;i<20;i++)
- {
- package.parameter[i]=0xAA;
- }
- /* while(k<60)
+
+ 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];
@@ -403,10 +400,127 @@
j=j+2;
k++;
- }*/
+ }
rs485_dirc=1;
wait_us(RS485_DELAY);
return com->sendCommunicatePacket(&package);
}
+uint8_t Bear_Receiver::sendlidar2()
+{
+ int i=0,j=1,k=60;
+ uint8_t intData[2],floatData[2];
+ ANDANTE_PROTOCOL_PACKET package;
+ //BUFFER_SIZE=143
+ package.robotId = 0x00;
+ package.length = 122;
+ package.instructionErrorId = WRITE_DATA;
+
+ while(k<120)
+ {//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_dirc1=1;
+ wait_us(RS485_DELAY);
+ return com->sendCommunicatePacket(&package);
+
+}
+uint8_t Bear_Receiver::sendlidar3()
+{
+ int i=0,j=1,k=120;
+ uint8_t intData[2],floatData[2];
+ ANDANTE_PROTOCOL_PACKET package;
+ //BUFFER_SIZE=143
+ package.robotId = 0x00;
+ package.length = 122;
+ package.instructionErrorId = WRITE_DATA;
+ while(k<180)
+ {//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_dirc1=1;
+ wait_us(RS485_DELAY);
+ return com->sendCommunicatePacket(&package);
+
+}
+uint8_t Bear_Receiver::sendlidar4()
+{
+ int i=0,j=1,k=180;
+ uint8_t intData[2],floatData[2];
+ ANDANTE_PROTOCOL_PACKET package;
+ //BUFFER_SIZE=143
+ package.robotId = 0x00;
+ package.length = 122;
+ package.instructionErrorId = WRITE_DATA;
+ while(k<240)
+ {//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_dirc1=1;
+ wait_us(RS485_DELAY);
+ return com->sendCommunicatePacket(&package);
+
+}
+uint8_t Bear_Receiver::sendlidar5()
+{
+ int i=0,j=1,k=240;
+ uint8_t intData[2],floatData[2];
+ ANDANTE_PROTOCOL_PACKET package;
+ //BUFFER_SIZE=143
+ package.robotId = 0x00;
+ package.length = 122;
+ package.instructionErrorId = WRITE_DATA;
+ while(k<300)
+ {//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_dirc1=1;
+ wait_us(RS485_DELAY);
+ return com->sendCommunicatePacket(&package);
+}
+uint8_t Bear_Receiver::sendlidar6()
+{
+ int i=0,j=1,k=300;
+ uint8_t intData[2],floatData[2];
+ ANDANTE_PROTOCOL_PACKET package;
+ //BUFFER_SIZE=143
+ package.robotId = 0x00;
+ package.length = 122;
+ package.instructionErrorId = WRITE_DATA;
+ while(k<360)
+ {//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_dirc1=1;
+ wait_us(RS485_DELAY);
+ return com->sendCommunicatePacket(&package);
+
+}
\ No newline at end of file
--- a/Receiver.h Tue Jun 07 03:14:19 2016 +0000
+++ b/Receiver.h Tue Jun 07 17:22:37 2016 +0000
@@ -38,6 +38,11 @@
uint8_t sendlidar();
+ uint8_t sendlidar2();
+ uint8_t sendlidar3();
+ uint8_t sendlidar4();
+ uint8_t sendlidar5();
+ uint8_t sendlidar6();
};
#endif