Diff: MS9g_move_sin.cpp

Revision:

1:1ec6af6d0c6d

Parent:

0:be6047ad0802

Child:

2:3eadad0761e9

--- a/MS9g_move_sin.cpp	Tue May 01 13:08:26 2018 +0000
+++ b/MS9g_move_sin.cpp	Wed May 02 12:19:26 2018 +0000
@@ -1,7 +1,6 @@
 #include "MS9g_move_sin.h"
-
-Servo_9g::Servo_9g(){
-}
+//class Servo_9g
+Servo_9g::Servo_9g(){}
 
 Servo_9g::Servo_9g (PinName Pin):
 Servo(Pin)
@@ -9,37 +8,81 @@
     Servo.period_ms(20);
 }
 
-~Servo_9g(){
+Servo_9g::~Servo_9g(){
     
 }
-
-void Servo_9g_Move::start_move_sin(){
-    timer.attach(this, &Servo_9g::calc_n_move, val); //sine period, sec
-}
+//end of class Servo_9g
 
-void Servo_9g_Move::calc_n_move(){
-    Servo_9g::move (Servo_9g::next_sin());
-}
+//class Servo_9g_Move
+//Servo_9g_Move::Servo_9g_Move():Servo_9g(){}
+//Servo_9g_Move::Servo_9g_Move(PinName Pin):Servo_9g(Pin){}
+Servo_9g_Move::~Servo_9g_Move(){}
 
-void Servo_9g_Move::move (float f){
-        Servo = f * val; // duty-cycle, perсents 0..1; посчитанное значение вставится в следующее прерывание
+void Servo_9g_Move::Move (float f){
+        Servo = f * val; // duty-cycle, perсents 0..1
 }
     
-float Servo_9g_Move::next_sin(){
+void Servo_9g_Move::NextSin(){
         i += 0.1;
         if (i > 2) i = 0;
         f = (sin(i * pi) + 1.0) / 2 + 1; //1..2
-        return (float)f;
+}
+
+void Servo_9g_Move::CalCnMove(){
+    Move((float)f);
+    NextSin();
 }
 
+void Servo_9g_Move::StartMoveSin(){
+    timer.attach(this, &Servo_9g_Move::CalCnMove, val); //sine period, sec
+}
+//end of class Servo_9g_Move
+
+//class Servo_9g_CAN
+Servo_9g_CAN::Servo_9g_CAN(PinName rd, PinName td):Servo_9g_Move():
+can(rd, td)
+{
+    func.id = 1;
+    func.len = 4;
+}
+Servo_9g_CAN::Servo_9g_CAN(PinName rd, PinName td, int hz):Servo_9g_Move():
+can(rd, td, hz)
+{
+    func.id = 1;
+    func.len = 4;
+}
+    
 Servo_9g_CAN::Servo_9g_CAN(PinName servo_pwm, PinName rd, PinName td):Servo_9g_Move(servo_pwm):
 can(rd, td)
 {
-    
+    func.id = 1;
+    func.len = 4;
 }
 
 Servo_9g_CAN::Servo_9g_CAN(PinName servo_pwm, PinName rd, PinName td, int hz):Servo_9g_Move(servo_pwm):
 can(rd, td, hz)
 {
+    func.id = 1;
+    func.len = 4;
+}
+
+Servo_9g_CAN::~Servo_9g_CAN(){
     
-}
\ No newline at end of file
+}
+
+void Servo_9g_CAN::SendNextSin(){
+    NextSin();
+    func.data = &f; //возможно func.data = &(const char)f; или func.data = (const char*)&f;
+    can.write(func);
+}
+
+void Servo_9g_CAN::ReceiveServo(){
+    if(can.read(func)){
+        Move((float)func.data); //по идее функ- массив, значит имя-указатель
+    }
+}
+
+void Servo_9g_CAN::SendSin(){
+    timer.attach(this, &Servo_9g_CAN::SendNextSin, val);
+}
+//end of class Servo_9g_CAN
\ No newline at end of file