Abe Takumi
/
RS405CB_test
meister2013 control test program
RS405cb.h
- Committer:
- YSB
- Date:
- 2013-08-05
- Revision:
- 0:6e1fdd3ca40d
File content as of revision 0:6e1fdd3ca40d:
#define RIGHT 1 #define LEFT 0 #define VERTICAL 1 #define HORIZONTAL 0 #ifndef MBED_RS405CB_H #define MBED_RS405CB_h class RS405cb: public Serial{ public: RS405cb(PinName tx,PinName rx,PinName permit); //////////////RS405_SERVO_command///////////////////////////////////////////// /////function for setting void TORQUE_ON(unsigned char id); void ID_CHANGE(unsigned char oldid,unsigned char newid); void DECIDE_LIMIT_ANGLE(unsigned char id,unsigned int CWlimit,unsigned int CCWlimit); void REQUIRE_RETURN_PACKET(unsigned char id); /////function for control void Rotate_Servo(unsigned char id,char RL,unsigned int ANGLE);//ANGLE:0-900 means 0.0 degree to 90.0 degree void Rotate_Servo_Float(unsigned char id,float ANGLE);//ANGLE:-90.0 to -90.0 void Rotate_Servo_Float_Test(unsigned char id);//Ones this function called,main sequence is put in "while(1)" //function for 2013 meister's airframe "SHO" void Sho_Init(int center_vert,int center_hori,int pls15_vert,int pls15_hori,int mns15_vert,int mns15_hori); void Sho_Rotate_Servo(unsigned char id,int VH,float angle_of_attack);//-15.0 deg to 15.0 deg private: //////function for RS405 basic command void RSW2(unsigned char id,unsigned char flg,unsigned char adr,unsigned char len,unsigned char cnt,unsigned char lowdata,unsigned char highdata); void RSW1(unsigned char id,unsigned char flg1,unsigned char adr1,unsigned char len1,unsigned char cnt1,unsigned char data1); void RSW0(unsigned char id,unsigned char flg,unsigned char adr,unsigned char len,unsigned char cnt); //variable for 2013 meister's airframe "SHO" int center_v,center_h,pls15_v,pls15_h,mns15_v,mns15_h; //Serial rs405cb; DigitalOut _permit; }; #endif