|
| enum class | COMM_STATE { WAIT_LEAD
, WAIT_NOT_LEAD
, WAIT_CMD
, ERROR
} |
| |
| enum class | COMM_CMD {
NONE = 0x00
, SET_DC_MOTOR_DIR = 0x01
, SET_ENCODER_DIR
, SET_SERVO_DIR
,
SET_DC_MOTOR_SPEED_RANGE
, SET_SERVO_PULSE_RANGE
, SET_SERVO_ANGLE_RANGE
, SET_BUTTON_INIT
,
SET_ENCODER_ECHO_MODE
, SET_IMU_ECHO_MODE
, SET_IMU_INIT
, SET_POWER_PARAM
,
SET_ENCODER_PPR_MAXSPEED
, SET_ALL_ENCODER_PPR
, SET_IMU_Calib_Data
, SET_DC_MOTOR_POWER = 0x11
,
SET_DC_MOTOR_SPEED
, SET_DC_MOTOR_ROTATE
, SET_ALL_DC_MOTOR_SPEED
, SET_SERVO_ANGLE
,
SET_ALL_SERVO_ANGLE
, SET_MOVE_DISTANCE
, SET_ENCODER_RESET_COUNTER
, SET_STATE_LED
,
SET_IMU_TO_ZERO
, SET_PID_PARAM
, SET_DC_BRAKE
, SET_ALL_DC_BRAKE
,
SET_ALL_DC_MOTOR_POWER
, GET_BUTTON_STATE = 0x21
, GET_BUTTONS_STATE
, GET_ENCODER_COUNTER
,
GET_ALL_ENCODER_COUNTER
, GET_IMU_EULER
, GET_IMU_GYRO
, GET_IMU_ACC
,
GET_POWER_INFO
, GET_ROTATE_STATE
, GET_SPEED_ALL_DC_MOTOR
, GET_IMU_ACC_NOcal
,
GET_ENCODER_DEGREES
, AUTO_SEND_BUTTON_STATE = 0x31
, AUTO_SEND_ENCODER_COUNTER
, AUTO_SEND_IMU_EULER
,
AUTO_SEND_IMU_GYRO
, AUTO_SEND_IMU_ACC
, SET_DC_BRAKE_TYPE = 0x41
, SET_DC_ALL_BRAKE_TYPE
,
SET_DC_TWO_MOTOR_PARAM
, SET_DC_TWO_MoveSync_PID
, SET_DC_TWO_MoveGyro_PID
, SET_DC_TWO_TurnGyro_PID
,
SET_DC_TWO_MOTOR_Reset_count
, SET_DC_TWO_MOTOR_PPR
, SET_DC_MOTOR_TYPE
, SET_Drive_Move = 0x51
,
SET_Drive_MoveDegs
, SET_Drive_MoveTime
, SET_Drive_MoveSync
, SET_Drive_MoveSyncDegs
,
SET_Drive_MoveSyncDegsACC
, SET_Drive_MoveSyncTime
, SET_Drive_Gyro
, SET_Drive_GyroDegs
,
SET_Drive_GyroTime
, SET_Drive_Turn
, SET_Drive_Brake
, GET_Task_Done_Status
,
GET_Drive_Degress
, GET_Drive_Counter
, ECHO_TEST = 0xFF
, F_VERSION = 0xFE
,
F_BUILD_DAY = 0xFD
, F_DESCRIPTOR = 0xFC
, READ_MODEL_INDEX = 0xFB
, READ_ALL_INFO = 0xFA
,
RUN_AUTO_QC = 0xF9
} |
| |
| enum class | BTN_STATE {
NOKEY
, F_EDGE
, REPEAT
, PRESSED
,
R_EDGE
} |
| |
| enum class | DIR { REVERSE
, FORWARD
} |
| |
| enum class | BUTTON_ECHO_MODE { PASSIVE
, ACTIVE
, MAX
} |
| |
| enum class | ENCODER_ECHO_MODE { PASSIVE
, ACTIVE
, MAX
} |
| |
| enum class | IMU_ECHO_MODE { PASSIVE
, TIMING
, ACTIVE
, MAX
} |
| |
| enum class | IMU_ACC_FSR { _2G
, _4G
, _8G
, _16G
} |
| |
| enum class | IMU_GYRO_FSR { _250DPS
, _500DPS
, _1000DPS
, _2000DPS
} |
| |
| enum class | IMU_ODR {
_10_SPS
, _20_SPS
, _25_SPS
, _50_SPS
,
_100_SPS
, _125_SPS
, _250_SPS
, _500_SPS
,
_1000_SPS
, _2000_SPS
, _4000_SPS
, _8000_SPS
} |
| |
| enum class | IMU_FIFO { ENABLE
, DISABLE
} |
| |
| enum class | MOVE_TYPE { DIFF
, OMNI
} |
| |
| enum class | MOVE_ACTION {
STOP
, FORWARD
, BACKWARD
, LEFT
,
RIGHT
} |
| |
| enum class | RESULT {
OK
, ERROR
, ERROR_SOFTSERIAL_BEGIN
, ERROR_INIT
,
ERROR_WAIT_TIMEOUT
, ERROR_READ_TIMEOUT
, ERROR_SERVO_MIN_PULSE
, ERROR_SERVO_MAX_PULSE
,
ERROR_SERVO_MIN_ANGLE
, ERROR_SERVO_MAX_ANGLE
, ERROR_MODE
, ERROR_INTERVAL
,
ERROR_IMU_ACC_FSR
, ERROR_IMU_GYRO_FSR
, ERROR_IMU_ODR
, ERROR_MOTOR_SPEED
,
ERROR_MOTOR_POWER
, ERROR_MOTOR1_SPEED
, ERROR_MOTOR2_SPEED
, ERROR_MOTOR3_SPEED
,
ERROR_MOTOR4_SPEED
, ERROR_SERVO_ANGLE
, ERROR_SERVO1_ANGLE
, ERROR_SERVO2_ANGLE
,
ERROR_SERVO3_ANGLE
, ERROR_SERVO4_ANGLE
, ERROR_MOVE_ACTION
, ERROR_MOVE_SPEED
,
ERROR_MOVE_ENCODER
, ERROR_QC_IMU
, ERROR_POWER_VOLT_RANGE
} |
| |
| enum class | Drive_RESULT {
OK = 0x00
, ERROR
, ERROR_SOFTSERIAL_BEGIN
, ERROR_INIT
,
ERROR_WAIT_TIMEOUT
, ERROR_READ_TIMEOUT
, ERROR_Drive_Define = 0x07
, ERROR_Drive_Param
,
ERROR_Drive_IMU_idle
, ERROR_MOTOR_SPEED = 0x0F
, ERROR_MOTOR_POWER = 0x10
} |
| |
| typedef void(* | BtnChgCallback) (uint8_t num, BTN_STATE newState) |
| |
|
| | MMLower (uint8_t rx, uint8_t tx, uint32_t baudrate) |
| |
| RESULT | Init (uint32_t timeout_ms=1000) |
| |
| RESULT | SetDCMotorDir (uint8_t num, DIR dir) |
| |
| RESULT | SetEncoderDir (uint8_t num, DIR dir) |
| |
| RESULT | SetServoDir (uint8_t num, DIR dir) |
| |
| RESULT | SetDCMotorSpeedRange (uint8_t num, uint16_t min, uint16_t max) |
| |
| RESULT | SetServoPulseRange (uint8_t num, uint16_t min, uint16_t max) |
| |
| RESULT | SetServoAngleRange (uint8_t num, uint16_t min, uint16_t max) |
| |
| RESULT | SetIMUEchoMode (IMU_ECHO_MODE mode, uint16_t echoIntervalMs) |
| |
| RESULT | SetIMUInit (IMU_ACC_FSR accFSR, IMU_GYRO_FSR gyroFSR, IMU_ODR odr, IMU_FIFO fifo) |
| |
| RESULT | SetPowerParam (float fullVolt, float cutOffVolt, float alarmVolt) |
| |
| RESULT | SetStateLED (uint8_t brightness, uint32_t colorRGB) |
| |
| RESULT | SetIMUToZero (void) |
| |
| RESULT | SetIMU_Calib_data (float *bufdata) |
| |
| RESULT | SetEncode_PPR_MaxRPM (uint8_t num, uint16_t ppr, uint16_t Maxspeed) |
| |
| RESULT | SetALL_Encode_PPR (uint16_t *ppr) |
| |
| RESULT | SetDCMotorPower (uint8_t num, int16_t power) |
| |
| RESULT | SetDCMotorSpeed (uint8_t num, int16_t speed) |
| |
| RESULT | SetDCMotorRotate (uint8_t num, int16_t maxSpeed, uint16_t degree) |
| |
| RESULT | SetAllDCMotorSpeed (Motors_Param_t param) |
| |
| RESULT | SetServoAngle (uint8_t num, uint16_t angle) |
| |
| RESULT | SetAllServoAngle (uint16_t angle1, uint16_t angle2, uint16_t angle3, uint16_t angle4) |
| |
| RESULT | SetMoveDistance (MOVE_TYPE type, MOVE_ACTION action, uint16_t speed, uint16_t enCounter) |
| |
| RESULT | SetEncoderResetCounter (uint8_t num) |
| |
| RESULT | SetPIDParam (uint8_t num, uint8_t pidNum, float kp, float ki, float kd) |
| |
| RESULT | SetDCBrake (uint8_t num) |
| |
| RESULT | SetALLDCBrake (void) |
| |
| RESULT | SetDC_Type_Brake (uint8_t num, uint8_t type) |
| |
| RESULT | SetALLDC_Type_Brake (uint8_t *type) |
| |
| RESULT | SetAllDCMotorPower (Motors_Param_t param) |
| |
| RESULT | GetButtonState (uint8_t num, bool &btnState) |
| |
| RESULT | GetButtonsState (bool *btnsState) |
| |
| RESULT | GetEncoderCounter (uint8_t num, int32_t &enCounter) |
| |
| RESULT | GetAllEncoderCounter (int32_t *enCounter) |
| |
| RESULT | GetIMUEuler (double &roll, double &pitch, double &yaw) |
| |
| RESULT | GetIMUGyro (double &x, double &y, double &z) |
| |
| RESULT | GetIMUAcc (double &x, double &y, double &z) |
| |
| RESULT | GetPowerInfo (float &curVolt, float &curVoltPerc) |
| |
| RESULT | GetRotateState (uint8_t num, bool &isEnd) |
| |
| RESULT | GetALLEncoderSpeed (int32_t *enSpeed) |
| |
| RESULT | Get_IMU_nancalib_acc (float *accdata) |
| |
| RESULT | GetEncoderDegrees (uint8_t num, int32_t &enDeges) |
| |
| RESULT | EchoTest (void) |
| |
| RESULT | GetFWVersion (String &version) |
| |
| RESULT | GetFWBuildDay (String &date) |
| |
| RESULT | GetFWDescriptor (String &descriptor) |
| |
| RESULT | GetModelIndex (uint8_t &index) |
| |
| RESULT | GetAllInfo (AllInfo_t &info) |
| |
| RESULT | RunAutoQC (void) |
| |
| Drive_RESULT | Set_Drive2Motor_PARAM (uint8_t m1_num, uint8_t m2_num, DIR m1_dir, DIR m2_dir, uint8_t num) |
| |
| RESULT | Set_Drive_MoveSync_PID (float Kp, float Ki, float Kd, uint8_t num) |
| |
| RESULT | Set_Drive_MoveGyro_PID (float Kp, float Ki, float Kd, uint8_t num) |
| |
| RESULT | Set_Drive_MoveTurn_PID (float Kp, float Ki, float Kd, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_Reset_Count (uint8_t num, bool reset) |
| |
| Drive_RESULT | Set_Drive_Encode_PPR (uint8_t num, uint16_t *ppr) |
| |
| Drive_RESULT | Set_Drive_Motor_Type (uint8_t num, uint8_t type) |
| |
| Drive_RESULT | Set_Drive_Move_Func (int16_t power_left, int16_t power_right, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_Move_Degs (int16_t power_left, int16_t power_right, uint16_t Degree_c, bool brake, bool async, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_Move_Time (int16_t power_left, int16_t power_right, uint32_t Time_mS, bool brake, bool async, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_MoveSync_Func (int16_t power_left, int16_t power_right, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_MoveSync_Degs (int16_t power_left, int16_t power_right, uint16_t Degree_c, bool brake, bool async, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_MoveSync_Time (int16_t power_left, int16_t power_right, uint32_t Time_mS, bool brake, bool async, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_MoveGyro_Func (int16_t power, int16_t Target_dri, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_MoveGyro_Degs (int16_t power, int16_t Target_dri, uint16_t Degree_c, bool brake, bool async, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_MoveGyro_Time (int16_t power, int16_t Target_dri, uint32_t Time_mS, bool brake, bool async, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_TurnGyro (int16_t power, int16_t Target_dri, uint8_t mode, bool brake, bool async, uint8_t num) |
| |
| Drive_RESULT | Set_Drive_Brake (bool brake, uint8_t num) |
| |
| Drive_RESULT | Get_Drive_isTaskDone (uint8_t num, bool *isEnd) |
| |
| Drive_RESULT | Get_Drive_EncoderCounter (uint8_t num, int32_t &enCounter) |
| |
| Drive_RESULT | Get_Drive_Degrees (uint8_t num, int32_t &Degs) |
| |
| void | loop (void) |
| |
| void | onBtnChg (BtnChgCallback callback) |
| |
Handling the Lower MCU (STM32) communication.
Definition at line 51 of file MMLower.h.
1.13.2