NagaokaRoboticsClub_mbedTeam / ikarashiMDC_2byte_ver

ikarashiMDCの2byteバージョン

Dependents:   NHK2019_mae_v6 NHK2019_main_v6 NHK2019_usiro_v6 2019BSyudo ... more

ikarashiMDC.cpp@15:3ae22f7861b4, 2019-09-02 (annotated)

Committer:
skouki
Date:
Mon Sep 02 07:23:05 2019 +0000
Revision:
15:3ae22f7861b4
Parent:
14:d5ace3e9a620
Child:
16:f1b2b34d09b3

        

        
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#include "ikarashiMDC.h"





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skouki

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ikarashiMDC::ikarashiMDC(uint8_t taddr,uint8_t tmotorNum,bool tmode,Serial *tserial)





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{





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    serial = tserial;





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    addr = taddr;





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    motorNum = tmotorNum;





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    mode = tmode;





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    braking = true;





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}





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int ikarashiMDC::setSpeed(const double& speed)





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{





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    uint8_t data[6];





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    //Limiter





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    const double cropped_speed = std::min(1.0,std::max(-1.0,speed));





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    //dataspeed 0~253 neutaral 126





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    uint16_t dataSpeed = ((cropped_speed+1.0)/2.0)*0xffff + 1;





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    //printf("%d\n",dataSpeed);





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    //set sending data





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    data[0] = 255; //header





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    data[1] = 254;





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    data[2] = (addr<<5) + motorNum + (mode<<4)+(braking<<3); //address





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    data[3] = dataSpeed % 256;





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    data[4] = ((dataSpeed >> 8) & 0xff);





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    data[5] = data[2]^data[3]^data[4];





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    if((data[3]==255)&&(data[4]==254))data[4]=255;





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    //send data





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    for(int i=0; i<6; i++) {





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        serial->putc(data[i]);





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    }





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    return 0;





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}





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void estop(Serial *serial)





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{





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    for(int i = 0; i<3; i++) {





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        serial->putc(255);





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    }





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}