T Arai / Futaba_servo140922

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Futaba485.h@0:5387fecc249c, 2015-12-26 (annotated)

Committer:
TArai
Date:
Sat Dec 26 14:12:18 2015 +0000
Revision:
0:5387fecc249c
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
TArai 0:5387fecc249c 1 #ifndef MBED_FUTABA_SERVO_H
TArai 0:5387fecc249c 2 #define MBED_FUTABA_SERVO_H
TArai 0:5387fecc249c 3
TArai 0:5387fecc249c 4 #include "mbed.h"
TArai 0:5387fecc249c 5
TArai 0:5387fecc249c 6 class Futaba {
TArai 0:5387fecc249c 7 private:
TArai 0:5387fecc249c 8 Serial _device; // tx, rx
TArai 0:5387fecc249c 9 DigitalOut _REDE; //transmitt enable or disenable
TArai 0:5387fecc249c 10
TArai 0:5387fecc249c 11 public:
TArai 0:5387fecc249c 12 Futaba(PinName tx ,PinName rx, PinName REDE);
TArai 0:5387fecc249c 13 void init();
TArai 0:5387fecc249c 14 void setTmax(unsigned char ID, unsigned char data);
TArai 0:5387fecc249c 15 void torqueOn (unsigned char ID);
TArai 0:5387fecc249c 16 void torqueOff (unsigned char ID);
TArai 0:5387fecc249c 17 void setPosition (unsigned char ID, int data);
TArai 0:5387fecc249c 18 void setPosition_long123 (int data1,int data2, int data3); //ID 1~3
TArai 0:5387fecc249c 19 void setTslope(unsigned char ID, unsigned char CW, unsigned char CCW);//00H~FFH 0deg~255deg
TArai 0:5387fecc249c 20 };
TArai 0:5387fecc249c 21
TArai 0:5387fecc249c 22 #endif