Diff: RS405cb.h

Revision:

0:03b3a91ccd08

Child:

1:4f4b999b4939

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RS405cb.h	Fri Apr 12 10:32:21 2013 +0000
@@ -0,0 +1,46 @@
+#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:-90.0-90.0
+    
+    //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
\ No newline at end of file