Abe Takumi
/
RS405CB_test
meister2013 control test program
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?
User | Revision | Line number | New 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 |