Revision 0:886eded5868a, committed 2017-11-28

Comitter:

e5115026

Date:

Tue Nov 28 10:01:32 2017 +0000

Commit message:

????

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Nov 28 10:01:32 2017 +0000
@@ -0,0 +1,44 @@
+//
+//  Sample "SaberTooth_serial"
+//  2012/10/06 created by matsuo@edu.teu.ac.jp
+//  2014/06/13 revised by matsuo@edu.teu.ac.jp
+
+#include "mbed.h"
+
+//AnalogIn aIn_1(p19);    // Command input 1(0.0 to 1.0).
+//AnalogIn aIn_2(p20);    // Command input 2(0.0 to 1.0).
+
+Serial pc(USBTX, USBRX); // tx, rx for PC terminal.
+Serial sabertooth(p28, p27);  // tx, rx for Sabertooth.
+double moterDeg;
+double deg[3];
+
+
+void getDeg()
+{
+    deg[0]=pc.getc()-48;
+    deg[1]=pc.getc()-48;
+    deg[2]=pc.getc()-48;
+    
+    moterDeg=deg[0]+deg[1]*0.1+deg[2]*0.01;
+    pc.printf("%lf\t",moterDeg);
+    }
+
+int main()
+{
+    sabertooth.baud(19200); // Set baudrate of serial port for Sabertooth.
+    int cmd_1=0;
+    sabertooth.putc(0);   // Send "Stop" to Motor 1 and 2.
+    pc.attach(getDeg,Serial::RxIrq);
+    while (1) {
+        cmd_1 = (int)(moterDeg * 126 + 1); // Convert aIn_1 from 0.0-1.0 to 1-127.
+        //cmd_2 = (int)(aIn_2*126+128); // Convert aIn_2 from 0.0-1.0 to 128-255.
+
+        sabertooth.putc(cmd_1);   // Output cmd_1 to Motor 1.
+        //sabertooth.putc(cmd_2);   // Output cmd_2 to Motor 2.
+
+        pc.printf("%d\t", cmd_1);
+
+        wait_ms(10);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Nov 28 10:01:32 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/024bf7f99721
\ No newline at end of file