C++ (Cpp) calcLRC示例

示例#1

文件： ZerooneSupermodified.c 项目： zisi/SuperModifiedServo-ROS

void setBaudRate(int fd, uint8_t nodeId, uint32_t baudRate)
{
    ZO_PROTOCOL_PACKET p;
    p.addressedNodeID = nodeId;
    p.ownNodeID = 0x01;
    p.commandID = 0x17;
    p.byteCount = 0x04;
    u32ToStr(baudRate, p.data);
    p.lrc = calcLRC(&p);
    if( putPacketSerial(fd, &p) )
        getResponse(fd, &p);
}

示例#2

文件： ZerooneSupermodified.c 项目： zisi/SuperModifiedServo-ROS

void setDGain(int fd, uint8_t nodeId, uint16_t D)
{
    ZO_PROTOCOL_PACKET p;
    p.addressedNodeID = nodeId;
    p.ownNodeID = 0x01;
    p.commandID = 0x02;
    p.byteCount = 0x02;
    u16ToStr(D, p.data);
    p.lrc = calcLRC(&p);
    if( putPacketSerial(fd, &p) )
        getResponse(fd, &p);
}

示例#3

文件： ZerooneSupermodified.c 项目： zisi/SuperModifiedServo-ROS

void setProfiledVelocitySetpoint(int fd, uint8_t nodeId, int32_t vel)
{
    ZO_PROTOCOL_PACKET p;
    p.addressedNodeID = nodeId;
    p.ownNodeID = 0x01;
    p.commandID = 0x10;
    p.byteCount = 0x04;
    s32ToStr(vel, p.data);
    p.lrc = calcLRC(&p);
    if( putPacketSerial(fd, &p) )
        getResponse(fd, &p);
}

示例#4

文件： ZerooneSupermodified.c 项目： zisi/SuperModifiedServo-ROS

void setNodeId(int fd, uint8_t nodeId, uint8_t newNodeId)
{
    ZO_PROTOCOL_PACKET p;
    p.addressedNodeID = nodeId;
    p.ownNodeID = 0x01;
    p.commandID = 0x15;
    p.byteCount = 0x01;
    p.data[0] = newNodeId;
    p.lrc = calcLRC(&p);
    if( putPacketSerial(fd, &p) )
        getResponse(fd, &p);
}

示例#5

文件： ZerooneSupermodified.c 项目： zisi/SuperModifiedServo-ROS

void setProfiledRelativePositionSetpoint(int fd, uint8_t nodeId, int64_t pos)
{
    ZO_PROTOCOL_PACKET p;
    p.addressedNodeID = nodeId;
    p.ownNodeID = 0x01;
    p.commandID = 0x12;
    p.byteCount = 0x08;
    s64ToStr(pos, p.data);
    p.lrc = calcLRC(&p);
    if( putPacketSerial(fd, &p) )
        getResponse(fd, &p);
}

示例#6

文件： ZerooneSupermodified.c 项目： zisi/SuperModifiedServo-ROS

void profiledMoveToAbsolutePosition(int fd, uint8_t nodeId, int64_t pos)
{
    ZO_PROTOCOL_PACKET p;
    p.addressedNodeID = nodeId;
    p.ownNodeID = 0x01;
    p.commandID = 0x0B;
    p.byteCount = 0x08;
    s64ToStr(pos, p.data);
    p.lrc = calcLRC(&p);
    if( putPacketSerial(fd, &p) )
        getResponse(fd, &p);
}

示例#7

文件： ZerooneSupermodified.cpp 项目： ZEROONELTD/ZerooneSupermodified_ArduinoLib

void zoSms::setProfiledRelativePositionSetpoint(uint8_t nodeId, int64_t pos)
{
	ZO_PROTOCOL_PACKET p;
	
	p.addressedNodeID = nodeId;
	p.ownNodeID = 1;
	p.commandID = 0x12;
	p.byteCount = 8;
	s64ToStr(pos,p.data);
	p.lrc = calcLRC(&p);
	
	if( ha.putPacket(&p) )
		getResponse(&p);
}

示例#8

文件： ZerooneSupermodified.cpp 项目： ZEROONELTD/ZerooneSupermodified_ArduinoLib

void zoSms::setProfiledVelocitySetpoint(uint8_t nodeId, int32_t vel)
{
	ZO_PROTOCOL_PACKET p;
	
	p.addressedNodeID = nodeId;
	p.ownNodeID = 1;
	p.commandID = 0x10;
	p.byteCount = 4;
	s32ToStr(vel,p.data);
	p.lrc = calcLRC(&p);
	
	if( ha.putPacket(&p) )
		getResponse(&p);
}

示例#9

文件： ZerooneSupermodified.cpp 项目： ZEROONELTD/ZerooneSupermodified_ArduinoLib

void zoSms::profiledMoveToAbsolutePosition(uint8_t nodeId, int64_t pos)
{
	ZO_PROTOCOL_PACKET p;
	
	p.addressedNodeID = nodeId;
	p.ownNodeID = 1;
	p.commandID = 0x0B;
	p.byteCount = 8;
	s64ToStr(pos,p.data);
	p.lrc = calcLRC(&p);
	
	if( ha.putPacket(&p) )
		getResponse(&p);
}

示例#10

文件： ZerooneSupermodified.cpp 项目： ZEROONELTD/ZerooneSupermodified_ArduinoLib

void zoSms::setDurationForCurrentLimit(uint8_t nodeId, uint16_t dur)
{
	ZO_PROTOCOL_PACKET p;
	
	p.addressedNodeID = nodeId;
	p.ownNodeID = 1;
	p.commandID = 0x06;
	p.byteCount = 2;
	u16ToStr(dur,p.data);
	p.lrc = calcLRC(&p);
	
	if( ha.putPacket(&p) )
		getResponse(&p);
}

示例#11

文件： ZerooneSupermodified.cpp 项目： ZEROONELTD/ZerooneSupermodified_ArduinoLib

void zoSms::setPIDgainD(uint8_t nodeId, uint16_t curr)
{
	ZO_PROTOCOL_PACKET p;
	
	p.addressedNodeID = nodeId;
	p.ownNodeID = 1;
	p.commandID = 0x02;
	p.byteCount = 2;
	u16ToStr(curr,p.data);
	p.lrc = calcLRC(&p);
	
	if( ha.putPacket(&p) )
		getResponse(&p);
}

示例#12

文件： ZerooneSupermodified.cpp 项目： ZEROONELTD/ZerooneSupermodified_ArduinoLib

void zoSms::setProfileAcceleration(uint8_t nodeId, uint32_t accel)
{
	ZO_PROTOCOL_PACKET p;
	
	p.addressedNodeID = nodeId;
	p.ownNodeID = 1;
	p.commandID = 0x03;
	p.byteCount = 4;
	u32ToStr(accel,p.data);
	p.lrc = calcLRC(&p);
	
	if( ha.putPacket(&p) )
		getResponse(&p);
}

示例#13

文件： ZerooneSupermodified.c 项目： zisi/SuperModifiedServo-ROS

void setErrorReaction(int fd, uint8_t nodeId, uint8_t resp[])
{
    ZO_PROTOCOL_PACKET p;
    p.addressedNodeID = nodeId;
    p.ownNodeID = 0x01;
    p.commandID = 0x1C;
    p.byteCount = 0x14;
    for (int i=0; i<20; i++)
    {
        p.data[i] = resp[i];
    }
    p.lrc = calcLRC(&p);
    if( putPacketSerial(fd, &p) )
        getResponse(fd, &p);
}

示例#14

文件： ZerooneSupermodified.cpp 项目： ZEROONELTD/ZerooneSupermodified_ArduinoLib

void zoSms::setNodeID(uint8_t oldNodeId, uint8_t newNodeId)
{
	ZO_PROTOCOL_PACKET p;
	
	p.addressedNodeID = oldNodeId;
	p.ownNodeID = 1;
	p.commandID = 0x15;
	p.byteCount = 1;
	p.data[0]=newNodeId;
			
	p.lrc = calcLRC(&p);
	
	if( ha.putPacket(&p) )
		getResponse(&p);
}

示例#15

文件： ZerooneSupermodified.c 项目： zisi/SuperModifiedServo-ROS

void setDigitalOutputs(int fd, uint8_t nodeId, bool do1, bool do2, bool do3)
{
    ZO_PROTOCOL_PACKET p;
    p.addressedNodeID = nodeId;
    p.ownNodeID = 0x01;
    p.commandID = 0x14;
    p.byteCount = 0x01;
    p.data[0] = 0;
    if(do1)
        p.data[0] |= 0x01;
    if(do2)
        p.data[0] |= 0x02;
    if(do3)
        p.data[0] |= 0x04;
    p.lrc = calcLRC(&p);
    if( putPacketSerial(fd, &p) )
        getResponse(fd, &p);
}

示例#16

文件： ZerooneSupermodified.cpp 项目： ZEROONELTD/ZerooneSupermodified_ArduinoLib

void zoSms::configureDigitalIOs(uint8_t nodeId,bool dio1,bool dio2,bool dio3)
{
	ZO_PROTOCOL_PACKET p;
	
	p.addressedNodeID = nodeId;
	p.ownNodeID = 1;
	p.commandID = 0x13;
	p.byteCount = 1;
	p.data[0]=0;
	if(dio1)
		p.data[0] |= 0x01;
	if(dio2)
		p.data[0] |= 0x02;
	if(dio3)
		p.data[0] |= 0x04;			
	p.lrc = calcLRC(&p);
	
	if( ha.putPacket(&p) )
		getResponse(&p);
}