test
Dependencies: MX28 iSerial mbed
Fork of MX_control by
classproject.cpp@1:0a652990dab1, 2014-10-24 (annotated)
- Committer:
- soulx
- Date:
- Fri Oct 24 08:57:50 2014 +0000
- Revision:
- 1:0a652990dab1
- Parent:
- 0:c98ac0a05620
- Child:
- 2:7f9d2f135591
add mode
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
soulx | 0:c98ac0a05620 | 1 | #include "mbed.h" |
soulx | 0:c98ac0a05620 | 2 | #include "MX28.h" |
soulx | 0:c98ac0a05620 | 3 | |
soulx | 1:0a652990dab1 | 4 | //config param |
soulx | 1:0a652990dab1 | 5 | //-motor robotis |
soulx | 0:c98ac0a05620 | 6 | #define ID_ROLL 1 |
soulx | 0:c98ac0a05620 | 7 | #define ID_PITCH 2 |
soulx | 1:0a652990dab1 | 8 | #define BANDRATE_MOTOR 1000000 |
soulx | 0:c98ac0a05620 | 9 | |
soulx | 1:0a652990dab1 | 10 | |
soulx | 1:0a652990dab1 | 11 | //param calibration |
soulx | 1:0a652990dab1 | 12 | #define CENTER_ROLL 512 |
soulx | 1:0a652990dab1 | 13 | #define CENTER_PITCH 512 |
soulx | 1:0a652990dab1 | 14 | |
soulx | 1:0a652990dab1 | 15 | |
soulx | 0:c98ac0a05620 | 16 | |
soulx | 0:c98ac0a05620 | 17 | Serial pc(USBTX, USBRX); |
soulx | 1:0a652990dab1 | 18 | MX28 mx28(PA_11, PA_12, BANDRATE_MOTOR); |
soulx | 1:0a652990dab1 | 19 | |
soulx | 1:0a652990dab1 | 20 | DigitalIn mybutton(USER_BUTTON); |
soulx | 1:0a652990dab1 | 21 | |
soulx | 1:0a652990dab1 | 22 | //function prototype |
soulx | 1:0a652990dab1 | 23 | void setup_mode(); |
soulx | 1:0a652990dab1 | 24 | void run_mode(); |
soulx | 1:0a652990dab1 | 25 | |
soulx | 0:c98ac0a05620 | 26 | |
soulx | 0:c98ac0a05620 | 27 | int main() |
soulx | 0:c98ac0a05620 | 28 | { |
soulx | 0:c98ac0a05620 | 29 | pc.baud(115200); |
soulx | 0:c98ac0a05620 | 30 | pc.printf("======================================================\r\n"); |
soulx | 1:0a652990dab1 | 31 | if(mybutton == 0) |
soulx | 1:0a652990dab1 | 32 | {//Setup mode |
soulx | 1:0a652990dab1 | 33 | pc.printf("Setup Mode\r\n"); |
soulx | 1:0a652990dab1 | 34 | setup_mode(); |
soulx | 1:0a652990dab1 | 35 | } |
soulx | 1:0a652990dab1 | 36 | else |
soulx | 1:0a652990dab1 | 37 | {//Run mode |
soulx | 1:0a652990dab1 | 38 | pc.printf("Run Mode\r\n"); |
soulx | 1:0a652990dab1 | 39 | run_mode(); |
soulx | 1:0a652990dab1 | 40 | } |
soulx | 1:0a652990dab1 | 41 | return 0; |
soulx | 1:0a652990dab1 | 42 | } |
soulx | 1:0a652990dab1 | 43 | |
soulx | 1:0a652990dab1 | 44 | void setup_mode() |
soulx | 1:0a652990dab1 | 45 | { |
soulx | 0:c98ac0a05620 | 46 | |
soulx | 1:0a652990dab1 | 47 | } |
soulx | 1:0a652990dab1 | 48 | |
soulx | 1:0a652990dab1 | 49 | void run_mode() |
soulx | 1:0a652990dab1 | 50 | { |
soulx | 1:0a652990dab1 | 51 | |
soulx | 0:c98ac0a05620 | 52 | } |