Revision 9:0fc5514faed9, committed 2016-04-28

Comitter:

sype

Date:

Thu Apr 28 08:22:13 2016 +0000

Parent:

6:ece8a8cdf4b0

Child:

10:f82bc24e3bd4

Commit message:

D?claration de l'adresse dans le constructeur, cette fois on est s?r ?a fonctionne (mais faudrait essayer)

Changed in this revision

--- 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);
 }
 

--- a/RoboClaw.h	Sat Feb 06 11:55:10 2016 +0000
+++ b/RoboClaw.h	Thu Apr 28 08:22:13 2016 +0000
@@ -23,45 +23,45 @@
 public:
     /** Create RoboClaw instance
     */
-    RoboClaw(int baudrate, PinName rx, PinName tx);
+    RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx);
     
     /** Forward and Backward functions
     * @param address address of the device
     * @param speed speed of the motor (between 0 and 127)
     * @note Forward and Backward functions
     */
-    void ForwardM1(uint8_t address, int speed);
-    void BackwardM1(uint8_t address, int speed);
-    void ForwardM2(uint8_t address, int speed);
-    void BackwardM2(uint8_t address, int speed);
+    void ForwardM1(int speed);
+    void BackwardM1(int speed);
+    void ForwardM2(int speed);
+    void BackwardM2(int speed);
     
     /** Forward and Backward functions
     * @param address address of the device
     * @param speed speed of the motor (between 0 and 127)
     * @note Forward and Backward functions, it turns the two motors
     */
-    void Forward(uint8_t address, int speed);
-    void Backward(uint8_t address, int speed);
+    void Forward(int speed);
+    void Backward(int speed);
     
     /** Read the Firmware
     * @param address address of the device
     */
-    void ReadFirm(uint8_t address);
+    void ReadFirm();
     
     /** Read encoder and speed of M1 or M2
     * @param address address of the device
     * @note Read encoder in ticks
     * @note Read speed in ticks per second
     */
-    int32_t ReadEncM1(uint8_t address);
-    int32_t ReadEncM2(uint8_t address);
-    int32_t ReadSpeedM1(uint8_t address);
-    int32_t ReadSpeedM2(uint8_t address);
+    int32_t ReadEncM1();
+    int32_t ReadEncM2();
+    int32_t ReadSpeedM1();
+    int32_t ReadSpeedM2();
     
     /** Set both encoders to zero
     * @param address address of the device
     */
-    void ResetEnc(uint8_t address);
+    void ResetEnc();
     
     /** Set speed of Motor with different parameter (only in ticks)
     * @param address address of the device
@@ -71,28 +71,29 @@
     * @note Set the Speed, Accel and Distance
     * @note Set the Speed, Accel, Decceleration and Position
     */
-    void SpeedM1(uint8_t address, int32_t speed);
-    void SpeedM2(uint8_t address, int32_t speed);
-    void SpeedAccelM1(uint8_t address, int32_t accel, int32_t speed);
-    void SpeedAccelM2(uint8_t address, int32_t accel, int32_t speed);
-    void SpeedAccelM1M2(uint8_t address, int32_t accel1, int32_t speed1, int32_t accel2, int32_t speed2);
-    void SpeedDistanceM1(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer);
-    void SpeedDistanceM2(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer);
-    void SpeedAccelDistanceM1(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
-    void SpeedAccelDistanceM2(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
-    void SpeedAccelDeccelPositionM1(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
-    void SpeedAccelDeccelPositionM2(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
-    void 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 SpeedM1(int32_t speed);
+    void SpeedM2(int32_t speed);
+    void SpeedAccelM1(int32_t accel, int32_t speed);
+    void SpeedAccelM2(int32_t accel, int32_t speed);
+    void SpeedAccelM1M2(int32_t accel1, int32_t speed1, int32_t accel2, int32_t speed2);
+    void SpeedDistanceM1(int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedDistanceM2(int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDistanceM1(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDistanceM2(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDeccelPositionM1(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
+    void SpeedAccelDeccelPositionM2(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
+    void 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);
     
 private:
     Serial _roboclaw;
     uint16_t crc;
+    uint8_t address;
     void crc_clear();
     void crc_update(uint8_t data);
     uint16_t crc_get();
     
     void write_n(uint8_t cnt, ...);
-    void write_(uint8_t address, uint8_t command, uint8_t data, bool reading, bool crcon);
+    void write_(uint8_t command, uint8_t data, bool reading, bool crcon);
     
     uint16_t crc16(uint8_t *packet, int nBytes);
     uint8_t read_(void);