Abe Takumi
/
RS405CB_test
meister2013 control test program
main.cpp@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
YSB | 0:6e1fdd3ca40d | 1 | #include "mbed.h" |
YSB | 0:6e1fdd3ca40d | 2 | //header to use rs405cb class |
YSB | 0:6e1fdd3ca40d | 3 | #include "RS405cb.h" |
YSB | 0:6e1fdd3ca40d | 4 | |
YSB | 0:6e1fdd3ca40d | 5 | //make object |
YSB | 0:6e1fdd3ca40d | 6 | RS405cb servo(p28,p27,p21);//TX,RX,PERMIT (PERMIT means RE/DE Pin of ltc485) |
YSB | 0:6e1fdd3ca40d | 7 | |
YSB | 0:6e1fdd3ca40d | 8 | //main |
YSB | 0:6e1fdd3ca40d | 9 | int main() { |
YSB | 0:6e1fdd3ca40d | 10 | TORQUE_ON(1); //means "make torque on of servo whose id is 1." |
YSB | 0:6e1fdd3ca40d | 11 | while(1) { |
YSB | 0:6e1fdd3ca40d | 12 | Rotate_Servo_Float(1,-90.0);//means "change angle to -90.0 degree :ID=1" angle scope:-90.0 to -90.0 |
YSB | 0:6e1fdd3ca40d | 13 | wait(1.0); |
YSB | 0:6e1fdd3ca40d | 14 | Rotate_Servo_Float(1,0.0); |
YSB | 0:6e1fdd3ca40d | 15 | wait(1.0); |
YSB | 0:6e1fdd3ca40d | 16 | Rotate_Servo_Float(1,90.0); |
YSB | 0:6e1fdd3ca40d | 17 | wait(1.0); |
YSB | 0:6e1fdd3ca40d | 18 | Rotate_Servo_Float(1,0.0); |
YSB | 0:6e1fdd3ca40d | 19 | wait(1.0); |
YSB | 0:6e1fdd3ca40d | 20 | } |
YSB | 0:6e1fdd3ca40d | 21 | } |