Diff: RoboClaw.cpp

Revision:

9:0fc5514faed9

Parent:

6:ece8a8cdf4b0

Child:

10:f82bc24e3bd4

--- a/RoboClaw.cpp	Sat Feb 06 11:55:10 2016 +0000
+++ b/RoboClaw.cpp	Thu Apr 28 08:22:13 2016 +0000
@@ -5,8 +5,9 @@
 #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(int baudrate, PinName rx, PinName tx) : _roboclaw(rx, tx){
+RoboClaw::RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx) : _roboclaw(rx, tx){
     _roboclaw.baud(baudrate);
+    address = adr;
 }
 
 void RoboClaw::crc_clear(){
@@ -46,7 +47,7 @@
     //} while(_roboclaw.getc() != 0xFF);
 }
 
-void RoboClaw::write_(uint8_t address, uint8_t command, uint8_t data, bool reading, bool crcon){
+void RoboClaw::write_(uint8_t command, uint8_t data, bool reading, bool crcon){
     _roboclaw.putc(address);
     _roboclaw.putc(command);
 
@@ -85,35 +86,35 @@
     return(_roboclaw.getc());
 }
 
-void RoboClaw::ForwardM1(uint8_t address, int speed){
-    write_(address,M1FORWARD,speed,false,false);
+void RoboClaw::ForwardM1(int speed){
+    write_(M1FORWARD,speed,false,false);
 }
 
-void RoboClaw::BackwardM1(uint8_t address, int speed){
-    write_(address,M1BACKWARD,speed,false,false);
+void RoboClaw::BackwardM1(int speed){
+    write_(M1BACKWARD,speed,false,false);
 }
 
-void RoboClaw::ForwardM2(uint8_t address, int speed){
-    write_(address,M2FORWARD,speed,false,false);
+void RoboClaw::ForwardM2(int speed){
+    write_(M2FORWARD,speed,false,false);
 }
 
-void RoboClaw::BackwardM2(uint8_t address, int speed){
-    write_(address,M2BACKWARD,speed,false,false);
+void RoboClaw::BackwardM2(int speed){
+    write_(M2BACKWARD,speed,false,false);
 }
 
-void RoboClaw::Forward(uint8_t address, int speed){
-    write_(address,MIXEDFORWARD,speed,false,false);
+void RoboClaw::Forward(int speed){
+    write_(MIXEDFORWARD,speed,false,false);
 }
 
-void RoboClaw::Backward(uint8_t address, int speed){
-    write_(address,MIXEDBACKWARD,speed,false,false);
+void RoboClaw::Backward(int speed){
+    write_(MIXEDBACKWARD,speed,false,false);
 }
 
-void RoboClaw::ReadFirm(uint8_t address){
-    write_(address,GETVERSION,0x00,true,false);
+void RoboClaw::ReadFirm(){
+    write_(GETVERSION,0x00,true,false);
 }
 
-int32_t RoboClaw::ReadEncM1(uint8_t address){
+int32_t RoboClaw::ReadEncM1(){
     int32_t enc1;
     uint16_t read_byte[7];
     write_n(2,address,GETM1ENC);
@@ -134,10 +135,10 @@
     return enc1;
 }
 
-int32_t RoboClaw::ReadEncM2(uint8_t address){
+int32_t RoboClaw::ReadEncM2(){
     int32_t enc2;
     uint16_t read_byte2[7];
-    write_(address,GETM2ENC,0x00, true,false);
+    write_(GETM2ENC,0x00, true,false);
 
     read_byte2[0] = (uint16_t)_roboclaw.getc();
     read_byte2[1] = (uint16_t)_roboclaw.getc();
@@ -155,7 +156,7 @@
     return enc2;
 }
 
-int32_t RoboClaw::ReadSpeedM1(uint8_t address){
+int32_t RoboClaw::ReadSpeedM1(){
     int32_t speed1;
     uint16_t read_byte[7];
     write_n(2,address,GETM1SPEED);
@@ -176,7 +177,7 @@
     return speed1;
 }
 
-int32_t RoboClaw::ReadSpeedM2(uint8_t address){
+int32_t RoboClaw::ReadSpeedM2(){
     int32_t speed2;
     uint16_t read_byte2[7];
     write_n(2,address,GETM2SPEED);
@@ -197,55 +198,55 @@
     return speed2;
 }
 
-void RoboClaw::ResetEnc(uint8_t address){
+void RoboClaw::ResetEnc(){
     write_n(2,address,RESETENC);
 }
 
-void RoboClaw::SpeedM1(uint8_t address, int32_t speed){
+void RoboClaw::SpeedM1(int32_t speed){
     write_n(6,address,M1SPEED,SetDWORDval(speed));
 }
 
-void RoboClaw::SpeedM2(uint8_t address, int32_t speed){
+void RoboClaw::SpeedM2(int32_t speed){
     write_n(6,address,M2SPEED,SetDWORDval(speed));
 }
 
-void RoboClaw::SpeedAccelM1(uint8_t address, int32_t accel, int32_t speed){
+void RoboClaw::SpeedAccelM1(int32_t accel, int32_t speed){
     write_n(10,address,M1SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed));
 }
 
-void RoboClaw::SpeedAccelM2(uint8_t address, int32_t accel, int32_t speed){
+void RoboClaw::SpeedAccelM2(int32_t accel, int32_t speed){
     write_n(10,address,M2SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed));
 }
 
-void RoboClaw::SpeedAccelM1M2(uint8_t address, int32_t accel1, int32_t speed1, int32_t accel2, int32_t speed2){
+void RoboClaw::SpeedAccelM1M2(int32_t accel1, int32_t speed1, int32_t accel2, int32_t speed2){
     write_n(10,address,M2SPEEDACCEL,SetDWORDval(accel1),SetDWORDval(speed1),SetDWORDval(accel2),SetDWORDval(speed2));
 }
 
-void RoboClaw::SpeedDistanceM1(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer){
+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(uint8_t address, int32_t speed, uint32_t distance, uint8_t 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(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t 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(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t 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(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag){
+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(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t 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(uint8_t address,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){
+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);
 }