RS405cb.h

00001 #define RIGHT 1
00002 #define LEFT 0
00003 
00004 #define VERTICAL 1
00005 #define HORIZONTAL 0
00006 
00007 #ifndef MBED_RS405CB_H
00008 #define MBED_RS405CB_h
00009 
00010 class RS405cb: public Serial{
00011 
00012 public:
00013 
00014     RS405cb(PinName tx,PinName rx,PinName permit);
00015         
00016     //////////////RS405_SERVO_command/////////////////////////////////////////////
00017         /////function for setting
00018             void TORQUE_ON(unsigned char id);
00019             void ID_CHANGE(unsigned char oldid,unsigned char newid);
00020             void DECIDE_LIMIT_ANGLE(unsigned char id,unsigned int CWlimit,unsigned int CCWlimit);
00021             void REQUIRE_RETURN_PACKET(unsigned char id);
00022         /////function for control
00023             void Rotate_Servo(unsigned char id,char RL,unsigned int ANGLE);//ANGLE:0-900 means 0.0 degree to 90.0 degree
00024             void Rotate_Servo_Float(unsigned char id,float ANGLE);//ANGLE:-90.0 to -90.0
00025             void Rotate_Servo_Float_Test(unsigned char id);//Ones this function called,main sequence is put in "while(1)"
00026     
00027     //function for 2013 meister's airframe "SHO"  
00028         void Sho_Init(int center_vert,int center_hori,int pls15_vert,int pls15_hori,int mns15_vert,int mns15_hori);
00029         void Sho_Rotate_Servo(unsigned char id,int VH,float angle_of_attack);//-15.0 deg to 15.0 deg
00030 
00031 
00032 private:
00033 
00034     //////function for RS405 basic command
00035         void RSW2(unsigned char id,unsigned char flg,unsigned char adr,unsigned char len,unsigned char cnt,unsigned char lowdata,unsigned char highdata);
00036         void RSW1(unsigned char id,unsigned char flg1,unsigned char adr1,unsigned char len1,unsigned char cnt1,unsigned char data1);
00037         void RSW0(unsigned char id,unsigned char flg,unsigned char adr,unsigned char len,unsigned char cnt);
00038 
00039     //variable for 2013 meister's airframe "SHO"  
00040         int center_v,center_h,pls15_v,pls15_h,mns15_v,mns15_h;
00041     
00042     //Serial rs405cb;
00043         DigitalOut _permit;
00044         
00045 };
00046 
00047 #endif