シリアルコントロール消した
Dependents: kobayashi_rei kobayashi_rei
ikarashiMDC.h
- Committer:
- WAT34
- Date:
- 2017-09-02
- Revision:
- 11:de577e4080b2
- Parent:
- 7:a8fcb8df927a
- Child:
- 13:ea34af94e90c
File content as of revision 11:de577e4080b2:
#ifndef IKARASHIMDC_H #define IKARASHIMDC_H #include "mbed.h" #define LAP 0 #define SM 1 /** * @file ikarashiMDC.h * @Author Wataru Nakata * @date August, 2017 * @brief ikarashi MDC class header file. * * MDC control libraly. creates object for each motors. */ /** Ikarashi MDC class * MDC libraly *Example : *@code #include "mbed.h" #include "ikarashiMDC.h" Serial serial(PC_10,PC_11); DigitalOut serialcontrol(D2); * ikarashiMDC ikarashi[]{ * ikarashiMDC(&serialcontrol,2,2,SM,&serial), * ikarashiMDC(&serialcontrol,2,3,LAP,&serial), }; PwmOut pwm(LED1); * int main() { * serial.baud(38400); * float i = -1; * while(1) { * ikarashi[0].setSpeed(i); * ikarashi[1].setSpeed(i); * i += 0.01; * pwm = fabs(i); * wait_ms(20); * if(i >= 1) i = -1; * } } *@endcode **/ class ikarashiMDC { public: /** Create ikarashiMDC inctance * @param address of cs pin for rs485 * @param addr for MDC * @param ch for motor * @param mdc mode (LAP or SM) * @param address of serial object **/ ikarashiMDC(DigitalOut* serialcontrol,uint8_t taddr,uint8_t tmotorNum,bool tmode,Serial *tserial); /** drive motor * @param speed of motor -1 to 1 **/ int setSpeed(const double& speed); bool braking; protected: uint8_t addr; uint8_t motorNum; bool mode; Serial* serial; DigitalOut *serialControl; }; void estop(Serial *serial); #endif