Sera
/
oka_master2
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Dependencies: mbed
Revision 2:f10d06f31141, committed 2021-06-10
- Comitter:
- yukikobayashi
- Date:
- Thu Jun 10 06:13:50 2021 +0000
- Parent:
- 1:1f21cff06302
- Commit message:
- 20210610
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 1f21cff06302 -r f10d06f31141 main.cpp
--- a/main.cpp Wed Mar 17 17:54:54 2021 +0000
+++ b/main.cpp Thu Jun 10 06:13:50 2021 +0000
@@ -1,6 +1,6 @@
// Nucleo_CAN_master for AIRo-4.1
// Created by Atsushi Kakogawa, 2020.03.20
-// Modified by ****** ******, 2020.**.**
+// Modified by Yoshimichi Oka, 2021.06.09
// Department of Robotics, Ritsumeikan University, Japan
#include "mbed.h"
@@ -90,12 +90,17 @@
buf[i] = pc.getc();
if (buf[i] == '\n') {
- // ***** Angle control mode *****
+ // ***** Angle control mode (yaw joints)*****
// send(ID, mode(0), dir(0 or 1), 3rd digit, 2rd digit, 1rd digit)
if (buf[i-5] == 'A'){
//if (buf[i-4]-0x30==4){ //id=4には前部リニアPOTの値を送信
- send(buf[i-4]-0x30,2,0,buf[i-3],buf[i-2],buf[i-1]);
+ send(buf[i-4]-0x30,2,0,buf[i-3],buf[i-2],buf[i-1]); //脱力制御
//}
+
+ // ***** Yaw angle control mode (for T-branch) *****
+ // send(ID, mode(1), dir(0), NC, NC, NC)
+ } else if (buf[i-5] == 'T') {
+ send(buf[i-4]-0x30,3,0,buf[i-3],buf[i-2],buf[i-1]); //先頭モジュールのみ角度制御，他は脱力制御
// ***** Receive mode (single data) *****
// send(ID, mode(1), dir(0), NC, NC, NC)