Diff: ikarashiMDC.h

Revision:

2:75153205d6e8

Parent:

1:5e8014a1adbd

Child:

3:615ccca78f67

--- a/ikarashiMDC.h	Thu Aug 10 07:17:14 2017 +0000
+++ b/ikarashiMDC.h	Tue Aug 22 01:44:17 2017 +0000
@@ -3,22 +3,62 @@
 
 #include "mbed.h"
 
-
+#define LAP 0
+#define SM 1
+/** Ikarashi MDC class
+*   MDC libraly
+*Example :
+*@code
+*#include "mbed.h"
+*#include "ikarashiMDC.h"
+*Serial serial(PC_10,PC_11);
+*DigitalOut serialcontrol(D2);
+*
+*ikarashiMDC ikarashi[]{
+*    ikarashiMDC(&serialcontrol,2,2,SM,&serial),
+*    ikarashiMDC(&serialcontrol,2,3,LAP,&serial),
+*};
+*PwmOut pwm(LED1);
+*
+*int main() {
+*    serial.baud(115200);
+*    float i = -1;
+*    while(1) {
+*        ikarashi[0].setSpeed(i);
+*        ikarashi[1].setSpeed(i);
+*        i += 0.01;
+S*        pwm = fabs(i);
+*        wait_ms(20);
+*        if(i >= 1) i = -1;
+*    }
+*}
+*@endcode    
+**/
 class ikarashiMDC
-{
-        
+{        
 public:
-    ikarashiMDC();
-    int setMotorSpeed(double speed);
-    int setMotorinfo(uint8_t _addr,uint8_t _motorNum,Serial* _serial);
-    void stop();
-    int checkcomm();
+    /** Create ikarashiMDC inctance
+    * @param address of cs pin for rs485
+    * @param addr for MDC
+    * @param ch for motor
+    * @param mdc mode (LAP or SM)
+    * @param  address of serial object
+    **/
+    ikarashiMDC(DigitalOut* serialcontrol,uint8_t taddr,uint8_t tmotorNum,bool tmode,Serial *tserial);
+    
+    /** drive motor
+    * @param speed of motor -1 to 1
+    **/
+    int setSpeed(const double& speed);
+
 protected:   
     uint8_t addr;
     uint8_t motorNum;
+    bool mode;
     Serial* serial;
-    DigitalOut* serialControl;
+    DigitalOut *serialControl;
     
 };
+void estop(Serial *serial);
     
 #endif
\ No newline at end of file