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@17:97bb662f1e1f, 2019-09-03 (annotated)

Committer:
skouki
Date:
Tue Sep 03 05:08:36 2019 +0000
Revision:
17:97bb662f1e1f
Parent:
16:f1b2b34d09b3 

        

        
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#include "ikarashiMDC.h"





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





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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 & 0xff;





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    data[4] = dataSpeed >> 8;





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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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}