NagaokaRoboticsClub_mbedTeam / ikarashiMDC

MDC3.0 rs-485 コントロールプログラム can も追加予定.... 詳細はwiki バグレポートは中田くんに,やさしく教えてください(煽り禁止)

Dependents:   quadOmni_yanagi NHK2017_octopus ikarashiMDCmaster NHK2017_octopus2 ... more

ikarashiMDC.h@2:75153205d6e8, 2017-08-22 (annotated)

Committer:
WAT34
Date:
Tue Aug 22 01:44:17 2017 +0000
Revision:
2:75153205d6e8
Parent:
1:5e8014a1adbd
Child:
3:615ccca78f67
documented;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 0:314f2bed3958 1 #ifndef IKARASHIMDC_H
WAT34 0:314f2bed3958 2 #define IKARASHIMDC_H
WAT34 0:314f2bed3958 3
WAT34 0:314f2bed3958 4 #include "mbed.h"
WAT34 0:314f2bed3958 5
WAT34 2:75153205d6e8 6 #define LAP 0
WAT34 2:75153205d6e8 7 #define SM 1
WAT34 2:75153205d6e8 8 /** Ikarashi MDC class
WAT34 2:75153205d6e8 9 * MDC libraly
WAT34 2:75153205d6e8 10 *Example :
WAT34 2:75153205d6e8 11 *@code
WAT34 2:75153205d6e8 12 *#include "mbed.h"
WAT34 2:75153205d6e8 13 *#include "ikarashiMDC.h"
WAT34 2:75153205d6e8 14 *Serial serial(PC_10,PC_11);
WAT34 2:75153205d6e8 15 *DigitalOut serialcontrol(D2);
WAT34 2:75153205d6e8 16 *
WAT34 2:75153205d6e8 17 *ikarashiMDC ikarashi[]{
WAT34 2:75153205d6e8 18 * ikarashiMDC(&serialcontrol,2,2,SM,&serial),
WAT34 2:75153205d6e8 19 * ikarashiMDC(&serialcontrol,2,3,LAP,&serial),
WAT34 2:75153205d6e8 20 *};
WAT34 2:75153205d6e8 21 *PwmOut pwm(LED1);
WAT34 2:75153205d6e8 22 *
WAT34 2:75153205d6e8 23 *int main() {
WAT34 2:75153205d6e8 24 * serial.baud(115200);
WAT34 2:75153205d6e8 25 * float i = -1;
WAT34 2:75153205d6e8 26 * while(1) {
WAT34 2:75153205d6e8 27 * ikarashi[0].setSpeed(i);
WAT34 2:75153205d6e8 28 * ikarashi[1].setSpeed(i);
WAT34 2:75153205d6e8 29 * i += 0.01;
WAT34 2:75153205d6e8 30 S* pwm = fabs(i);
WAT34 2:75153205d6e8 31 * wait_ms(20);
WAT34 2:75153205d6e8 32 * if(i >= 1) i = -1;
WAT34 2:75153205d6e8 33 * }
WAT34 2:75153205d6e8 34 *}
WAT34 2:75153205d6e8 35 *@endcode
WAT34 2:75153205d6e8 36 **/
WAT34 1:5e8014a1adbd 37 class ikarashiMDC
WAT34 2:75153205d6e8 38 {
WAT34 0:314f2bed3958 39 public:
WAT34 2:75153205d6e8 40 /** Create ikarashiMDC inctance
WAT34 2:75153205d6e8 41 * @param address of cs pin for rs485
WAT34 2:75153205d6e8 42 * @param addr for MDC
WAT34 2:75153205d6e8 43 * @param ch for motor
WAT34 2:75153205d6e8 44 * @param mdc mode (LAP or SM)
WAT34 2:75153205d6e8 45 * @param address of serial object
WAT34 2:75153205d6e8 46 **/
WAT34 2:75153205d6e8 47 ikarashiMDC(DigitalOut* serialcontrol,uint8_t taddr,uint8_t tmotorNum,bool tmode,Serial *tserial);
WAT34 2:75153205d6e8 48
WAT34 2:75153205d6e8 49 /** drive motor
WAT34 2:75153205d6e8 50 * @param speed of motor -1 to 1
WAT34 2:75153205d6e8 51 **/
WAT34 2:75153205d6e8 52 int setSpeed(const double& speed);
WAT34 2:75153205d6e8 53
WAT34 0:314f2bed3958 54 protected:
WAT34 0:314f2bed3958 55 uint8_t addr;
WAT34 0:314f2bed3958 56 uint8_t motorNum;
WAT34 2:75153205d6e8 57 bool mode;
WAT34 0:314f2bed3958 58 Serial* serial;
WAT34 2:75153205d6e8 59 DigitalOut *serialControl;
WAT34 0:314f2bed3958 60
WAT34 0:314f2bed3958 61 };
WAT34 2:75153205d6e8 62 void estop(Serial *serial);
WAT34 1:5e8014a1adbd 63
WAT34 0:314f2bed3958 64 #endif