Abe Takumi / RS405cb

双葉コマンドサーボRS405cb制御用プログラム

Dependents:   EM_Mission ToyBox ohta FriedRice

RS405cb.h@1:4f4b999b4939, 2013-07-13 (annotated)

Committer:
YSB
Date:
Sat Jul 13 17:06:43 2013 +0000
Revision:
1:4f4b999b4939
Parent:
0:03b3a91ccd08 
Firsr Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YSB 0:03b3a91ccd08 1 #define RIGHT 1
YSB 0:03b3a91ccd08 2 #define LEFT 0
YSB 0:03b3a91ccd08 3
YSB 0:03b3a91ccd08 4 #define VERTICAL 1
YSB 0:03b3a91ccd08 5 #define HORIZONTAL 0
YSB 0:03b3a91ccd08 6
YSB 0:03b3a91ccd08 7 #ifndef MBED_RS405CB_H
YSB 0:03b3a91ccd08 8 #define MBED_RS405CB_h
YSB 0:03b3a91ccd08 9
YSB 0:03b3a91ccd08 10 class RS405cb: public Serial{
YSB 0:03b3a91ccd08 11
YSB 0:03b3a91ccd08 12 public:
YSB 0:03b3a91ccd08 13
YSB 0:03b3a91ccd08 14 RS405cb(PinName tx,PinName rx,PinName permit);
YSB 0:03b3a91ccd08 15
YSB 0:03b3a91ccd08 16 //////////////RS405_SERVO_command/////////////////////////////////////////////
YSB 0:03b3a91ccd08 17 /////function for setting
YSB 0:03b3a91ccd08 18 void TORQUE_ON(unsigned char id);
YSB 0:03b3a91ccd08 19 void ID_CHANGE(unsigned char oldid,unsigned char newid);
YSB 0:03b3a91ccd08 20 void DECIDE_LIMIT_ANGLE(unsigned char id,unsigned int CWlimit,unsigned int CCWlimit);
YSB 0:03b3a91ccd08 21 void REQUIRE_RETURN_PACKET(unsigned char id);
YSB 0:03b3a91ccd08 22 /////function for control
YSB 0:03b3a91ccd08 23 void Rotate_Servo(unsigned char id,char RL,unsigned int ANGLE);//ANGLE:0-900 means 0.0 degree to 90.0 degree
YSB 1:4f4b999b4939 24 void Rotate_Servo_Float(unsigned char id,float ANGLE);//ANGLE:-90.0 to -90.0
YSB 1:4f4b999b4939 25 void Rotate_Servo_Float_Test(unsigned char id);//Ones this function called,main sequence is put in "while(1)"
YSB 0:03b3a91ccd08 26
YSB 0:03b3a91ccd08 27 //function for 2013 meister's airframe "SHO"
YSB 0:03b3a91ccd08 28 void Sho_Init(int center_vert,int center_hori,int pls15_vert,int pls15_hori,int mns15_vert,int mns15_hori);
YSB 0:03b3a91ccd08 29 void Sho_Rotate_Servo(unsigned char id,int VH,float angle_of_attack);//-15.0 deg to 15.0 deg
YSB 0:03b3a91ccd08 30
YSB 0:03b3a91ccd08 31
YSB 0:03b3a91ccd08 32 private:
YSB 0:03b3a91ccd08 33
YSB 0:03b3a91ccd08 34 //////function for RS405 basic command
YSB 0:03b3a91ccd08 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 0:03b3a91ccd08 36 void RSW1(unsigned char id,unsigned char flg1,unsigned char adr1,unsigned char len1,unsigned char cnt1,unsigned char data1);
YSB 0:03b3a91ccd08 37 void RSW0(unsigned char id,unsigned char flg,unsigned char adr,unsigned char len,unsigned char cnt);
YSB 0:03b3a91ccd08 38
YSB 0:03b3a91ccd08 39 //variable for 2013 meister's airframe "SHO"
YSB 0:03b3a91ccd08 40 int center_v,center_h,pls15_v,pls15_h,mns15_v,mns15_h;
YSB 0:03b3a91ccd08 41
YSB 0:03b3a91ccd08 42 //Serial rs405cb;
YSB 0:03b3a91ccd08 43 DigitalOut _permit;
YSB 0:03b3a91ccd08 44
YSB 0:03b3a91ccd08 45 };
YSB 0:03b3a91ccd08 46
YSB 0:03b3a91ccd08 47 #endif