qbo_arduqob command 命令Id约定

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最新推荐文章于 2022-11-30 21:50:57 发布

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分类专栏： qbo robot ROS框架

本文链接：https://blog.csdn.net/ppp2006/article/details/38437335

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本文介绍了机器人控制器单板上的命令约定，包括不同命令的ID、参数和响应格式，涉及速度设置、传感器读取、电机状态、电池电量等多个功能模块。例如，GET_VERSION用于获取版本信息，SET_SPEED用于设定速度，GET_ODOMETRY获取定位数据等。

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驱动代码中命令约定

class ComandosSet
{
    public:
        CComando version;
        CComando setSpeed;
        CComando getSpeed;
        CComando setOdometry;
        CComando getOdometry;
        CComando wheelMovement;
        CComando floorDistance;
        CComando battery;
        CComando baseInfraRed;
        CComando setEncoders;
        CComando getEncoders;
        CComando distanceSensors;
        CComando distanceSensor;
        CComando setAutoupdateSensors;
        CComando adcReads;
        CComando lcd;
        CComando pid;
        CComando pidAdjustment;
        CComando srfContinuousUpdate;
        CComando powerOff;
        CComando mouth;
        CComando nose;
        CComando setServo;
        CComando getServo;
        CComando getHeadServos;
        CComando getEyeServos;
        CComando setMic;
        CComando getMics;
        CComando getIMU;
        CComando resetStall;
        CComando getMotorsState;
        CComando getI2cDevicesState;
        ComandosSet() :

version(0x40,0,2),

setSpeed(0x4d,2,0,"f"),

getSpeed(0x56,0,2,"b","f"),
setOdometry(0x42,3,0,"f"),---------------------------------------------------------

getOdometry(0x59,0,3,"b","f"), ---------------------------------------------------

wheelMovement(0x51,0,2,"b","f"),

floorDistance(0x48,0,1,"b","f"),

battery(0x57,0,2),

baseInfraRed(0x46,0,3),

setEncoders(0x70,2,0,"l"),
getEncoders(0x4f,0,2,"b","l"),

distanceSensors(0x4e,0,-1,"b","xbh"),---------------------------------------

distanceSensor(0x52,1,1,"b","h"),---------------------------------------------
setAutoupdateSensors(0x72,-1,0),

adcReads(0x73,-1,-1,"b","h"),

lcd(0x4c,1,0,"s"),

pid(0x50,1,0),
pidAdjustment(0x71,4,0,"f"),

srfContinuousUpdate(0x5d,1,0),

powerOff(0x5a,1,0),

mouth(0x44,3,0),

nose(0x45,1,0),
setServo(0x53,3,0,"bhh"),

getServo(0x5d,1,1,"b","h"),

getHeadServos(0x5c,0,2,"b","h"),

getEyeServos(0x5f,0,2,"b","h"),
setMic(0x4a,1,0),

getMics(0x4b,0,3,"b","h"),

getIMU(0x74,0,6,"b","hhhbbb"),

resetStall(0x80,0,0),

getMotorsState(0x81,0,1),
getI2cDevicesState(0x82,0,1)
{}
};

控制器单板上命令约定

#define GET_VERSION 0x40
#define ALL_SRF_UPDATE 0x41       //A
//#define GET_BRUJULA 0x42          //B //Ya no está
#define RESET_ODOMETRY 0x42
#define CHANGE_I2C_DIR 0x43       //C
//#define SET_MOUTH_VALUE 0x44      //D //Para la PR2
#define RESET 0x45                //E
#define GET_BASE_INFRARED 0x46    //IR
#define GET_I2C 0x47              //G
#define GET_GP2D12 0x48           //H
#define SRF_UPDATE 0x49           //I
//#define SET_MIC_INPUT 0x4A        //J //Para la PR2
//#define GET_MIC_REPORT 0x4B       //K //Para la PR2
#define SET_LCD 0x4C              //L
#define SET_MOTOR 0x4D            //M
#define GET_ALL_SRF 0x4E          //N      ----------------------------------------------------------------
#define GET_ENCODERS 0x4F         //O
#define SET_PID 0x50              //PID
//#define NEW_FIRMWARE_PR1 0x51     //Q
#define GET_WEEL_MOVEMENT 0x51
#define GET_SRF 0x52              //R--------------------------------------------------------------------------
//#define SET_SERVO 0x53            //S
#define TEST 0x54                 //TEST
#define SET_I2C 0x55              //U
#define GET_SPEED 0x56            //V
#define GET_BATTERY 0x57          //W
#define I2C_EXTENDED 0x58         //X
//#define NEW_FIRMWARE_PR2 0x59     //Y
#define GET_POSITION 0x59
//#define TURN_OFF 0x5A             //Z
//-----
//#define SET_MOTOR_EASY 0x5B
//-----
//#define GET_SERVOS 0x5C
#define SET_SRF_CONTINUOUS_UPDATE 0x5D
//#define SET_RADIOCONTROL 0x63     //CTRL
#define SET_ENCODER 0x70          //P
#define SET_K 0x71
#define SET_AUTOUPDATE_SRFS 0x72
#define GET_ANALOG_PINS 0x73
#define GET_IMU 0x74
#define RESET_STALL 0x80
#define GET_MOTORS_STATE 0x81
#define GET_I2C_STATE 0x82