NagaokaRoboticsClub_mbedTeam
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
Diff: ikarashiMDC.cpp
- Revision:
- 0:314f2bed3958
- Child:
- 1:5e8014a1adbd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ikarashiMDC.cpp Mon Aug 07 22:39:44 2017 +0000
@@ -0,0 +1,39 @@
+#include "ikarashiMDC.h"
+
+
+ikarashiMDC::ikarashiMDC()
+{
+ serial=NULL;
+ addr = 0;
+ motorNum = 0;
+}
+
+int ikarashiMDC::setMotorinfo(uint8_t _addr,uint8_t _motorNum,Serial *_serial)
+{
+ serial = _serial;
+ addr = _addr;
+ motorNum = _motorNum;
+ return 0;
+}
+
+int ikarashiMDC::setMotorSpeed(double speed)
+{
+ uint8_t data[3],dataSpeed;
+ //Limiter
+ if(speed > 1.0) speed = 1.0;
+ if(speed < -1.0) speed = -1.0;
+
+ //dataspeed 0~253 neutaral 126
+ dataSpeed = ((speed+1.0)/2.0)*253;
+ //set sending data
+ data[0] = 255; //header
+ data[1] = addr; //address
+ data[2] = dataSpeed;
+
+ //send data
+ for(int i=0;i<3; i++)
+ {
+ serial->putc(data[i]);
+ }
+ return 0;
+ }
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