Revision 3:9311ea940978, committed 2019-12-12

Comitter:

FumiyaKoike

Date:

Thu Dec 12 04:44:10 2019 +0000

Parent:

2:8ff319643fc3

Commit message:

Minor update;

Changed in this revision

--- a/RS405CB.cpp	Wed Dec 11 07:26:19 2019 +0000
+++ b/RS405CB.cpp	Thu Dec 12 04:44:10 2019 +0000
@@ -68,48 +68,8 @@
 
 /* -----------------------------------------------------------------------------
 Arguments:
-    ID   ... 動かしたいサーボのID
-    data ... 目標角．degreeの10倍の値を指定する．（ex 90° -> data = 900）
-    speed... 移動時間の指定．10ms単位で指定(ex. 5000ms -> 500)
-
-Description:
-    
------------------------------------------------------------------------------ */
-void RS405CB::GoalPosition(unsigned char ID, int data, int speed)
-{
-    unsigned char TxData[12];
-    unsigned char CheckSum = 0;
-
-    TxData[0] = 0xFA;
-    TxData[1] = 0xAF;
-    TxData[2] = ID;
-    TxData[3] = 0x00;
-    TxData[4] = 0x1E;
-    TxData[5] = 0x04;
-    TxData[6] = 0x01;
-    TxData[7] = (unsigned char)0x00FF & data;
-    TxData[8] = (unsigned char)0x00FF & (data >> 8);
-    TxData[9] = (unsigned char)0x00FF & speed;
-    TxData[10] = (unsigned char)0x00FF & (speed >> 8);
-
-    for(int i=2; i<=10; i++)
-    {
-        CheckSum = CheckSum ^ TxData[i];
-    }
-    TxData[11] = CheckSum;
-
-    _permit = 1;
-    for(int i=0; i<=11; i++) {
-        putc(TxData[i]);
-    }
-    wait_us(810);
-    _permit = 0;
-}
-
-/* -----------------------------------------------------------------------------
-Arguments:
     ID ... 
-    speed ... 移動時間を10ms単位で指定
+    speed ... 移動時間を10ms単位で指定(ex 2000ms -> 200)
 
 Description:
     

--- a/RS405CB.h	Wed Dec 11 07:26:19 2019 +0000
+++ b/RS405CB.h	Thu Dec 12 04:44:10 2019 +0000
@@ -8,7 +8,6 @@
         // RS405CB SERVO COMMANDs
         void Torque(unsigned char ID, unsigned char data);
         void GoalPosition(unsigned char ID, int data);
-        void GoalPosition(unsigned char ID, int data, int speed);
         void SetSpeed(unsigned char ID, int speed);
         void Change_ID(unsigned char oldID, unsigned char newID);
         int  Read_Deg(unsigned char ID);