T Arai / Futaba_servo140922

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Futaba485.h

Committer:
TArai
Date:
2015-12-26
Revision:
0:5387fecc249c

File content as of revision 0:5387fecc249c:

#ifndef MBED_FUTABA_SERVO_H
#define MBED_FUTABA_SERVO_H

#include "mbed.h"

class Futaba {
private:
    Serial _device;         // tx, rx
    DigitalOut _REDE; //transmitt enable or disenable

public:
    Futaba(PinName tx ,PinName rx, PinName REDE);
    void init();
    void setTmax(unsigned char ID, unsigned char data);
    void torqueOn (unsigned char ID);
    void torqueOff (unsigned char ID);
    void setPosition (unsigned char ID, int data);
    void setPosition_long123 (int data1,int data2, int data3); //ID 1~3
    void setTslope(unsigned char ID, unsigned char CW, unsigned char CCW);//00H~FFH 0deg~255deg
};

#endif