Fumiya KOIKE / RS405CB

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RS405CB.h@2:7e4294a350fd, 2019-12-09 (annotated)

Committer:
FumiyaKoike
Date:
Mon Dec 09 08:28:56 2019 +0000
Revision:
2:7e4294a350fd
Parent:
1:d9b19e1c1a9f
Child:
3:f7eb7b062ae0
Add LongPacket function;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
FumiyaKoike 0:22a84e434ec8 1 #ifndef MBED_RS405CB_H
FumiyaKoike 0:22a84e434ec8 2 #define MBED_RS405CB_H
FumiyaKoike 0:22a84e434ec8 3
FumiyaKoike 0:22a84e434ec8 4 class RS405CB: public Serial{
FumiyaKoike 0:22a84e434ec8 5 public:
FumiyaKoike 0:22a84e434ec8 6 RS405CB(PinName tx, PinName rx, PinName permit);
FumiyaKoike 0:22a84e434ec8 7
FumiyaKoike 0:22a84e434ec8 8 // RS405CB SERVO COMMANDs
FumiyaKoike 0:22a84e434ec8 9 void Torque(unsigned char ID, unsigned char data);
FumiyaKoike 2:7e4294a350fd 10 void TorqueOn(unsigned char ID);
FumiyaKoike 2:7e4294a350fd 11 void TorqueOn(unsigned char* ID);
FumiyaKoike 0:22a84e434ec8 12 void GoalPosition(unsigned char ID, int data);
FumiyaKoike 2:7e4294a350fd 13 void GoalPosition(unsigned char* ID, int* data);
FumiyaKoike 1:d9b19e1c1a9f 14 void GoalPosition(unsigned char ID, int data, int speed);
FumiyaKoike 2:7e4294a350fd 15 void GoalPosition(unsigned char* ID, int* data, int* speed);
FumiyaKoike 0:22a84e434ec8 16 void Change_ID(unsigned char oldID, unsigned char newID);
FumiyaKoike 0:22a84e434ec8 17 int Read_Deg(unsigned char ID);
FumiyaKoike 0:22a84e434ec8 18 int Read_mA(unsigned char ID);
FumiyaKoike 0:22a84e434ec8 19
FumiyaKoike 0:22a84e434ec8 20 private:
FumiyaKoike 0:22a84e434ec8 21 DigitalOut _permit;
FumiyaKoike 0:22a84e434ec8 22 void _ROM_Update(unsigned char ID);
FumiyaKoike 0:22a84e434ec8 23 int _s16(int value);
FumiyaKoike 0:22a84e434ec8 24 };
FumiyaKoike 0:22a84e434ec8 25
FumiyaKoike 0:22a84e434ec8 26 #endif