hirromu takaki / ikarashiMDC

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Dependents:   kobayashi_rei kobayashi_rei

ikarashiMDC.cpp@14:b692953d8f13, 2019-07-08 (annotated)

Committer:
THtakahiro702286
Date:
Mon Jul 08 08:43:58 2019 +0000
Revision:
14:b692953d8f13
Parent:
13:ea34af94e90c 
not serialcontrol

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 0:314f2bed3958 1 #include "ikarashiMDC.h"
WAT34 0:314f2bed3958 2
WAT34 0:314f2bed3958 3
THtakahiro702286 14:b692953d8f13 4 ikarashiMDC::ikarashiMDC(uint8_t taddr,uint8_t tmotorNum,bool tmode,Serial *tserial)
WAT34 0:314f2bed3958 5 {
WAT34 2:75153205d6e8 6 serial = tserial;
WAT34 2:75153205d6e8 7 addr = taddr;
WAT34 2:75153205d6e8 8 motorNum = tmotorNum;
WAT34 2:75153205d6e8 9 mode = tmode;
WAT34 9:12ea2a3883bb 10 braking = true;
WAT34 0:314f2bed3958 11 }
WAT34 0:314f2bed3958 12
WAT34 2:75153205d6e8 13 int ikarashiMDC::setSpeed(const double& speed)
WAT34 0:314f2bed3958 14 {
Wataru Nakata 12:3fa4f849d6f7 15 uint8_t data[4],dataSpeed;
WAT34 2:75153205d6e8 16 //Limiter
WAT34 13:ea34af94e90c 17 const double cropped_speed = std::min(1.0,std::max(-1.0,speed));
WAT34 2:75153205d6e8 18 //dataspeed 0~253 neutaral 126
WAT34 2:75153205d6e8 19 dataSpeed = ((cropped_speed+1.0)/2.0)*253;
WAT34 2:75153205d6e8 20 //printf("%d\n",dataSpeed);
WAT34 2:75153205d6e8 21 //set sending data
WAT34 2:75153205d6e8 22 data[0] = 255; //header
WAT34 7:a8fcb8df927a 23 data[1] = (addr<<5) + motorNum + (mode<<4)+(braking<<3); //address
WAT34 2:75153205d6e8 24 data[2] = dataSpeed;
Wataru Nakata 12:3fa4f849d6f7 25 data[3] = data[1]^data[2];
WAT34 2:75153205d6e8 26 //send data
Wataru Nakata 12:3fa4f849d6f7 27 for(int i=0; i<4; i++) {
WAT34 2:75153205d6e8 28 serial->putc(data[i]);
WAT34 2:75153205d6e8 29 }
WAT34 0:314f2bed3958 30 return 0;
WAT34 0:314f2bed3958 31 }
WAT34 0:314f2bed3958 32
WAT34 2:75153205d6e8 33
WAT34 2:75153205d6e8 34 void estop(Serial *serial)
WAT34 1:5e8014a1adbd 35 {
WAT34 2:75153205d6e8 36 for(int i = 0; i<3; i++) {
WAT34 2:75153205d6e8 37 serial->putc(255);
WAT34 1:5e8014a1adbd 38 }
WAT34 2:75153205d6e8 39
WAT34 5:b43c03ee7f8b 40 }