Abe Takumi / Mbed 2 deprecated RS405CB_test

meister2013 control test program

Dependencies:   mbed

RS405cb.h@0:6e1fdd3ca40d, 2013-08-05 (annotated)

Committer:
YSB
Date:
Mon Aug 05 08:06:42 2013 +0000
Revision:
0:6e1fdd3ca40d
for yamada

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YSB 0:6e1fdd3ca40d 1 #define RIGHT 1
YSB 0:6e1fdd3ca40d 2 #define LEFT 0
YSB 0:6e1fdd3ca40d 3
YSB 0:6e1fdd3ca40d 4 #define VERTICAL 1
YSB 0:6e1fdd3ca40d 5 #define HORIZONTAL 0
YSB 0:6e1fdd3ca40d 6
YSB 0:6e1fdd3ca40d 7 #ifndef MBED_RS405CB_H
YSB 0:6e1fdd3ca40d 8 #define MBED_RS405CB_h
YSB 0:6e1fdd3ca40d 9
YSB 0:6e1fdd3ca40d 10 class RS405cb: public Serial{
YSB 0:6e1fdd3ca40d 11
YSB 0:6e1fdd3ca40d 12 public:
YSB 0:6e1fdd3ca40d 13
YSB 0:6e1fdd3ca40d 14 RS405cb(PinName tx,PinName rx,PinName permit);
YSB 0:6e1fdd3ca40d 15
YSB 0:6e1fdd3ca40d 16 //////////////RS405_SERVO_command/////////////////////////////////////////////
YSB 0:6e1fdd3ca40d 17 /////function for setting
YSB 0:6e1fdd3ca40d 18 void TORQUE_ON(unsigned char id);
YSB 0:6e1fdd3ca40d 19 void ID_CHANGE(unsigned char oldid,unsigned char newid);
YSB 0:6e1fdd3ca40d 20 void DECIDE_LIMIT_ANGLE(unsigned char id,unsigned int CWlimit,unsigned int CCWlimit);
YSB 0:6e1fdd3ca40d 21 void REQUIRE_RETURN_PACKET(unsigned char id);
YSB 0:6e1fdd3ca40d 22 /////function for control
YSB 0:6e1fdd3ca40d 23 void Rotate_Servo(unsigned char id,char RL,unsigned int ANGLE);//ANGLE:0-900 means 0.0 degree to 90.0 degree
YSB 0:6e1fdd3ca40d 24 void Rotate_Servo_Float(unsigned char id,float ANGLE);//ANGLE:-90.0 to -90.0
YSB 0:6e1fdd3ca40d 25 void Rotate_Servo_Float_Test(unsigned char id);//Ones this function called,main sequence is put in "while(1)"
YSB 0:6e1fdd3ca40d 26
YSB 0:6e1fdd3ca40d 27 //function for 2013 meister's airframe "SHO"
YSB 0:6e1fdd3ca40d 28 void Sho_Init(int center_vert,int center_hori,int pls15_vert,int pls15_hori,int mns15_vert,int mns15_hori);
YSB 0:6e1fdd3ca40d 29 void Sho_Rotate_Servo(unsigned char id,int VH,float angle_of_attack);//-15.0 deg to 15.0 deg
YSB 0:6e1fdd3ca40d 30
YSB 0:6e1fdd3ca40d 31
YSB 0:6e1fdd3ca40d 32 private:
YSB 0:6e1fdd3ca40d 33
YSB 0:6e1fdd3ca40d 34 //////function for RS405 basic command
YSB 0:6e1fdd3ca40d 35 void RSW2(unsigned char id,unsigned char flg,unsigned char adr,unsigned char len,unsigned char cnt,unsigned char lowdata,unsigned char highdata);
YSB 0:6e1fdd3ca40d 36 void RSW1(unsigned char id,unsigned char flg1,unsigned char adr1,unsigned char len1,unsigned char cnt1,unsigned char data1);
YSB 0:6e1fdd3ca40d 37 void RSW0(unsigned char id,unsigned char flg,unsigned char adr,unsigned char len,unsigned char cnt);
YSB 0:6e1fdd3ca40d 38
YSB 0:6e1fdd3ca40d 39 //variable for 2013 meister's airframe "SHO"
YSB 0:6e1fdd3ca40d 40 int center_v,center_h,pls15_v,pls15_h,mns15_v,mns15_h;
YSB 0:6e1fdd3ca40d 41
YSB 0:6e1fdd3ca40d 42 //Serial rs405cb;
YSB 0:6e1fdd3ca40d 43 DigitalOut _permit;
YSB 0:6e1fdd3ca40d 44
YSB 0:6e1fdd3ca40d 45 };
YSB 0:6e1fdd3ca40d 46
YSB 0:6e1fdd3ca40d 47 #endif