ikarashiMDCの2byteバージョン
Dependents: NHK2019_mae_v6 NHK2019_main_v6 NHK2019_usiro_v6 2019BSyudo ... more
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