2018_Project-R
念のためパブリッシュ
Diff: RoboClaw.cpp
- Revision:
- 1:d36ea95c83f2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RoboClaw.cpp Mon Nov 20 06:57:47 2017 +0000
@@ -0,0 +1,252 @@
+#include "RoboClaw.h"
+#include <stdarg.h>
+
+#define MAXTRY 1
+#define SetDWORDval(arg) (uint8_t)(arg>>24),(uint8_t)(arg>>16),(uint8_t)(arg>>8),(uint8_t)arg
+#define SetWORDval(arg) (uint8_t)(arg>>8),(uint8_t)arg
+
+RoboClaw::RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx) : _roboclaw(rx, tx){
+ _roboclaw.baud(baudrate);
+ address = adr;
+}
+
+void RoboClaw::crc_clear(){
+ crc = 0;
+}
+
+void RoboClaw::crc_update (uint8_t data){
+ int i;
+ crc = crc ^ ((uint16_t)data << 8);
+ for (i=0; i<8; i++) {
+ if (crc & 0x8000)
+ crc = (crc << 1) ^ 0x1021;
+ else
+ crc <<= 1;
+ }
+}
+
+uint16_t RoboClaw::crc_get(){
+ return crc;
+}
+
+void RoboClaw::write_n(uint8_t cnt, ... ){
+ //uint8_t retry = MAXTRY;
+ //do {
+ crc_clear();
+ va_list marker;
+ va_start( marker, cnt );
+ for(uint8_t index=0; index<cnt; index++) {
+ uint8_t data = va_arg(marker, unsigned int);
+ crc_update(data);
+ _roboclaw.putc(data);
+ }
+ va_end( marker );
+ uint16_t crc = crc_get();
+ _roboclaw.putc(crc>>8);
+ _roboclaw.putc(crc);
+ //} while(_roboclaw.getc() != 0xFF);
+}
+
+void RoboClaw::write_(uint8_t command, uint8_t data, bool reading, bool crcon){
+ _roboclaw.putc(address);
+ _roboclaw.putc(command);
+
+ if(reading == false) {
+ if(crcon == true) {
+ uint8_t packet[2] = {address, command};
+ uint16_t checksum = crc16(packet,2);
+ _roboclaw.putc(checksum>>8);
+ _roboclaw.putc(checksum);
+ } else {
+ uint8_t packet[3] = {address, command, data};
+ uint16_t checksum = crc16(packet,3);
+ _roboclaw.putc(data);
+ _roboclaw.putc(checksum>>8);
+ _roboclaw.putc(checksum);
+ }
+ }
+}
+
+uint16_t RoboClaw::crc16(uint8_t *packet, int nBytes){
+ uint16_t crc_;
+ for (int byte = 0; byte < nBytes; byte++) {
+ crc_ = crc_ ^ ((uint16_t)packet[byte] << 8);
+ for (uint8_t bit = 0; bit < 8; bit++) {
+ if (crc_ & 0x8000) {
+ crc_ = (crc_ << 1) ^ 0x1021;
+ } else {
+ crc_ = crc_ << 1;
+ }
+ }
+ }
+ return crc_;
+}
+
+uint8_t RoboClaw::read_(void){
+ return(_roboclaw.getc());
+}
+
+void RoboClaw::ForwardM1(int speed){
+ write_(M1FORWARD,speed,false,false);
+}
+
+void RoboClaw::BackwardM1(int speed){
+ write_(M1BACKWARD,speed,false,false);
+}
+
+void RoboClaw::ForwardM2(int speed){
+ write_(M2FORWARD,speed,false,false);
+}
+
+void RoboClaw::BackwardM2(int speed){
+ write_(M2BACKWARD,speed,false,false);
+}
+
+void RoboClaw::Forward(int speed){
+ write_(MIXEDFORWARD,speed,false,false);
+}
+
+void RoboClaw::Backward(int speed){
+ write_(MIXEDBACKWARD,speed,false,false);
+}
+
+void RoboClaw::ReadFirm(){
+ write_(GETVERSION,0x00,true,false);
+}
+
+int32_t RoboClaw::ReadEncM1(){
+ int32_t enc1;
+ uint16_t read_byte[7];
+ write_n(2,address,GETM1ENC);
+
+ read_byte[0] = (uint16_t)_roboclaw.getc();
+ read_byte[1] = (uint16_t)_roboclaw.getc();
+ read_byte[2] = (uint16_t)_roboclaw.getc();
+ read_byte[3] = (uint16_t)_roboclaw.getc();
+ read_byte[4] = (uint16_t)_roboclaw.getc();
+ read_byte[5] = (uint16_t)_roboclaw.getc();
+ read_byte[6] = (uint16_t)_roboclaw.getc();
+
+ enc1 = read_byte[1]<<24;
+ enc1 |= read_byte[2]<<16;
+ enc1 |= read_byte[3]<<8;
+ enc1 |= read_byte[4];
+
+ return enc1;
+}
+
+int32_t RoboClaw::ReadEncM2(){
+ int32_t enc2;
+ uint16_t read_byte2[7];
+ write_(GETM2ENC,0x00, true,false);
+
+ read_byte2[0] = (uint16_t)_roboclaw.getc();
+ read_byte2[1] = (uint16_t)_roboclaw.getc();
+ read_byte2[2] = (uint16_t)_roboclaw.getc();
+ read_byte2[3] = (uint16_t)_roboclaw.getc();
+ read_byte2[4] = (uint16_t)_roboclaw.getc();
+ read_byte2[5] = (uint16_t)_roboclaw.getc();
+ read_byte2[6] = (uint16_t)_roboclaw.getc();
+
+ enc2 = read_byte2[1]<<24;
+ enc2 |= read_byte2[2]<<16;
+ enc2 |= read_byte2[3]<<8;
+ enc2 |= read_byte2[4];
+
+ return enc2;
+}
+
+int32_t RoboClaw::ReadSpeedM1(){
+ int32_t speed1;
+ uint16_t read_byte[7];
+ write_n(2,address,GETM1SPEED);
+
+ read_byte[0] = (uint16_t)_roboclaw.getc();
+ read_byte[1] = (uint16_t)_roboclaw.getc();
+ read_byte[2] = (uint16_t)_roboclaw.getc();
+ read_byte[3] = (uint16_t)_roboclaw.getc();
+ read_byte[4] = (uint16_t)_roboclaw.getc();
+ read_byte[5] = (uint16_t)_roboclaw.getc();
+ read_byte[6] = (uint16_t)_roboclaw.getc();
+
+ speed1 = read_byte[1]<<24;
+ speed1 |= read_byte[2]<<16;
+ speed1 |= read_byte[3]<<8;
+ speed1 |= read_byte[4];
+
+ return speed1;
+}
+
+int32_t RoboClaw::ReadSpeedM2(){
+ int32_t speed2;
+ uint16_t read_byte2[7];
+ write_n(2,address,GETM2SPEED);
+
+ read_byte2[0] = (uint16_t)_roboclaw.getc();
+ read_byte2[1] = (uint16_t)_roboclaw.getc();
+ read_byte2[2] = (uint16_t)_roboclaw.getc();
+ read_byte2[3] = (uint16_t)_roboclaw.getc();
+ read_byte2[4] = (uint16_t)_roboclaw.getc();
+ read_byte2[5] = (uint16_t)_roboclaw.getc();
+ read_byte2[6] = (uint16_t)_roboclaw.getc();
+
+ speed2 = read_byte2[1]<<24;
+ speed2 |= read_byte2[2]<<16;
+ speed2 |= read_byte2[3]<<8;
+ speed2 |= read_byte2[4];
+
+ return speed2;
+}
+
+void RoboClaw::ResetEnc(){
+ write_n(2,address,RESETENC);
+}
+
+void RoboClaw::SpeedM1(int32_t speed){
+ write_n(6,address,M1SPEED,SetDWORDval(speed));
+}
+
+void RoboClaw::SpeedM2(int32_t speed){
+ write_n(6,address,M2SPEED,SetDWORDval(speed));
+}
+
+void RoboClaw::SpeedAccelM1(int32_t accel, int32_t speed){
+ write_n(10,address,M1SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed));
+}
+
+void RoboClaw::SpeedAccelM2(int32_t accel, int32_t speed){
+ write_n(10,address,M2SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed));
+}
+
+void RoboClaw::SpeedAccelM1M2(int32_t accel, int32_t speed1, int32_t speed2){
+ write_n(14,address,MIXEDSPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed1),SetDWORDval(speed2));
+}
+
+void RoboClaw::SpeedDistanceM1(int32_t speed, uint32_t distance, uint8_t buffer){
+ write_n(11,address,M1SPEEDDIST,SetDWORDval(speed),SetDWORDval(distance),buffer);
+}
+
+void RoboClaw::SpeedDistanceM2(int32_t speed, uint32_t distance, uint8_t buffer){
+ write_n(11,address,M2SPEEDDIST,SetDWORDval(speed),SetDWORDval(distance),buffer);
+}
+
+void RoboClaw::SpeedAccelDistanceM1(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer){
+ write_n(15,address,M1SPEEDACCELDIST,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(distance),buffer);
+}
+
+void RoboClaw::SpeedAccelDistanceM2(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer){
+ write_n(15,address,M2SPEEDACCELDIST,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(distance),buffer);
+}
+
+void RoboClaw::SpeedAccelDeccelPositionM1(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag){
+ write_n(19,address,M1SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag);
+}
+
+void RoboClaw::SpeedAccelDeccelPositionM2(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag){
+ write_n(19,address,M2SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag);
+}
+
+void RoboClaw::SpeedAccelDeccelPositionM1M2(uint32_t accel1,uint32_t speed1,uint32_t deccel1, int32_t position1,uint32_t accel2,uint32_t speed2,uint32_t deccel2, int32_t position2,uint8_t flag){
+ write_n(35,address,MIXEDSPEEDACCELDECCELPOS,SetDWORDval(accel1),SetDWORDval(speed1),SetDWORDval(deccel1),SetDWORDval(position1),SetDWORDval(accel2),SetDWORDval(speed2),SetDWORDval(deccel2),SetDWORDval(position2),flag);
+}
+