energy changed

energy/src/energy/send/send.cpp

@@ -0,0 +1,52 @@
+//
+// Created by xixiliadorabarry on 1/24/19.
+//
+#include "energy/energy.h"
+#include <iostream>
+using namespace std;
+
+
+
+//----------------------------------------------------------------------------------------------------------------------
+// 此函数用于发送小符数据
+// ---------------------------------------------------------------------------------------------------------------------
+
+void Energy::sendBigTarget(Serial& serial, float x, float y, float z) {
+    static short x_tmp, y_tmp, z_tmp;
+    uint8_t buff[8];
+    x_tmp = static_cast<short>(x * (32768 - 1) / 100);
+    y_tmp = static_cast<short>(y * (32768 - 1) / 100);
+    z_tmp  = static_cast<short>(z * (32768 - 1) / 1000);
+    buff[0] = 's';
+    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
+    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
+    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
+    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
+    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
+    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
+    buff[7] = 'e';
+    serial.WriteData(buff, sizeof(buff));
+    send_cnt+=1;
+}
+
+
+
+//----------------------------------------------------------------------------------------------------------------------
+// 此函数用于发送大符数据
+// ---------------------------------------------------------------------------------------------------------------------
+void Energy::sendSmallTarget(Serial& serial, float x, float y, char change, char shoot){
+    static short x_tmp, y_tmp, z_tmp;
+    uint8_t buff[8];
+    x_tmp = static_cast<short>(x * (32768 - 1) / 100);
+    y_tmp = static_cast<short>(y * (32768 - 1) / 100);
+    buff[0] = 's';
+    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
+    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
+    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
+    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
+    buff[5] = change;
+    buff[6] = shoot;
+    buff[7] = 'e';
+    serial.WriteData(buff, sizeof(buff));
+    send_cnt+=1;
+}