uint8_t uartBuf[64]; uint8_t paramArray[2]; // contem os parametros de setar id uint8_t paramArray2[5]; // parametros da primeira posiçao uint8_t paramArray3[5]; // parametros da segunda posiçao uint8_t motorId;

void sendInstruction(uint8_t instruction, uint8_t* paramArray, uint8_t numParams){ //while(huartptr->gState != HAL_UART_STATE_READY); //Tem que implementar timeout uartBuf[0] = 0xFF; //Header uartBuf[1] = 0xFF; //Header uartBuf[2] = motorId; //ID uartBuf[3] = numParams + 2; //Length uartBuf[4] = instruction; //Instruction uint8_t i; uint8_t somaParams = 0; for(i=0; i<numParams; i++){ uartBuf[i+5] = paramArray[i]; //Parameters somaParams += paramArray[i]; } uartBuf[i+5] = ~(motorId + numParams + 2 + instruction + somaParams); //Checksum HAL_UART_Transmit_DMA(&huart1, uartBuf, numParams + 6); //tem q ficar mudando a porta aqui }

void main(){

uint8_t novoId = 0x00;
  paramArray[0] = 0x03; 	//Starting adress da instruçao de ID
  paramArray[1] = novoId; 	//novo ID (se mudar tem q mudar o uartbuf2 do sendInstruction)
  motorId = 0xFE;  // ID de broadcast
  uint16_t pos1 = 1000;
  uint16_t pos2 = 500;
  uint16_t spd = 500;

  sendInstruction(0x03, paramArray, 2);  // set ID

  motorId = novoId;

  paramArray2[0] = 30;			//Goal position
  paramArray2[1] = pos1;		//Conferir endianess
  paramArray2[2] = pos1>>8;
  paramArray2[3] = spd;
  paramArray2[4] = spd>>8;

  paramArray3[0] = 30;			//Goal position
  paramArray3[1] = pos2;		//Conferir endianess
  paramArray3[2] = pos2>>8;
  paramArray3[3] = spd;
  paramArray3[4] = spd>>8;

}

while (1) { sendInstruction(0x03, paramArray2, 5); HAL_Delay(2000); sendInstruction(0x03, paramArray3, 5); HAL_Delay(2000); }