taiyou komazawa / gamma_controller_

hoge

Dependents:   2017_Bteam_jushinkun-gamma

gamma_ctrl.h@0:c9adbf27bd9b, 2017-08-17 (annotated)

Committer:
Komazawa_sun
Date:
Thu Aug 17 06:34:06 2017 +0000
Revision:
0:c9adbf27bd9b
jushinkun_for_gamma_ctrl;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Komazawa_sun 0:c9adbf27bd9b 1 #ifndef GAMMA_CTRL_H_
Komazawa_sun 0:c9adbf27bd9b 2 #define GAMMA_CTRL_H_
Komazawa_sun 0:c9adbf27bd9b 3
Komazawa_sun 0:c9adbf27bd9b 4 #include "ctrl_serial.h"
Komazawa_sun 0:c9adbf27bd9b 5
Komazawa_sun 0:c9adbf27bd9b 6 class gamma_ctrl : public ctrl_serial
Komazawa_sun 0:c9adbf27bd9b 7 {
Komazawa_sun 0:c9adbf27bd9b 8 public:
Komazawa_sun 0:c9adbf27bd9b 9 gamma_ctrl(int baudrate_g);
Komazawa_sun 0:c9adbf27bd9b 10 void get_data();
Komazawa_sun 0:c9adbf27bd9b 11
Komazawa_sun 0:c9adbf27bd9b 12 union gamma_packet
Komazawa_sun 0:c9adbf27bd9b 13 {
Komazawa_sun 0:c9adbf27bd9b 14 char all_data[GAMMA_DATA_SIZE];
Komazawa_sun 0:c9adbf27bd9b 15 struct
Komazawa_sun 0:c9adbf27bd9b 16 {
Komazawa_sun 0:c9adbf27bd9b 17 unsigned char start_byte:8;
Komazawa_sun 0:c9adbf27bd9b 18 signed int rx :8;
Komazawa_sun 0:c9adbf27bd9b 19 signed int ry :8;
Komazawa_sun 0:c9adbf27bd9b 20 signed int lx :8;
Komazawa_sun 0:c9adbf27bd9b 21 unsigned int r_sw1 :1;
Komazawa_sun 0:c9adbf27bd9b 22 unsigned int r_sw2 :1;
Komazawa_sun 0:c9adbf27bd9b 23 unsigned int r_sw3 :1;
Komazawa_sun 0:c9adbf27bd9b 24 unsigned int r_sw4 :1;
Komazawa_sun 0:c9adbf27bd9b 25 unsigned int r_s_sw1 :1;
Komazawa_sun 0:c9adbf27bd9b 26 unsigned int r_s_sw2 :1;
Komazawa_sun 0:c9adbf27bd9b 27 unsigned int l_sw1 :1;
Komazawa_sun 0:c9adbf27bd9b 28 unsigned int l_sw2 :1;
Komazawa_sun 0:c9adbf27bd9b 29 unsigned int l_sw3 :1;
Komazawa_sun 0:c9adbf27bd9b 30 unsigned int l_sw4 :1;
Komazawa_sun 0:c9adbf27bd9b 31 unsigned int l_s_sw1 :1;
Komazawa_sun 0:c9adbf27bd9b 32 unsigned int l_s_sw2 :1;
Komazawa_sun 0:c9adbf27bd9b 33 unsigned int mode1 :1;
Komazawa_sun 0:c9adbf27bd9b 34 unsigned int mode2 :1;
Komazawa_sun 0:c9adbf27bd9b 35 signed int r_srd :8;
Komazawa_sun 0:c9adbf27bd9b 36 signed int l_srd :8;
Komazawa_sun 0:c9adbf27bd9b 37 unsigned int no_data :2;
Komazawa_sun 0:c9adbf27bd9b 38 unsigned char phecksum:8;
Komazawa_sun 0:c9adbf27bd9b 39 unsigned char stop_byte :8;
Komazawa_sun 0:c9adbf27bd9b 40 }data;
Komazawa_sun 0:c9adbf27bd9b 41 };
Komazawa_sun 0:c9adbf27bd9b 42
Komazawa_sun 0:c9adbf27bd9b 43 gamma_packet pack;
Komazawa_sun 0:c9adbf27bd9b 44
Komazawa_sun 0:c9adbf27bd9b 45 };
Komazawa_sun 0:c9adbf27bd9b 46
Komazawa_sun 0:c9adbf27bd9b 47 #endif