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RoboClaw.cpp@7:af0e3da221a9, 2016-04-25 (annotated)
- Committer:
- sype
- Date:
- Mon Apr 25 12:38:40 2016 +0000
- Revision:
- 7:af0e3da221a9
- Parent:
- 6:ece8a8cdf4b0
- Child:
- 8:68669cccd769
impl?mentation de l'adresse dans le constructeur
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sype | 0:af5cf35e1a25 | 1 | #include "RoboClaw.h" |
sype | 0:af5cf35e1a25 | 2 | #include <stdarg.h> |
sype | 0:af5cf35e1a25 | 3 | |
sype | 4:e64524a61cfe | 4 | #define MAXTRY 1 |
sype | 2:a2c141d922b3 | 5 | #define SetDWORDval(arg) (uint8_t)(arg>>24),(uint8_t)(arg>>16),(uint8_t)(arg>>8),(uint8_t)arg |
sype | 2:a2c141d922b3 | 6 | #define SetWORDval(arg) (uint8_t)(arg>>8),(uint8_t)arg |
sype | 0:af5cf35e1a25 | 7 | |
sype | 7:af0e3da221a9 | 8 | RoboClaw::RoboClaw(int ID, int baudrate, PinName rx, PinName tx) : _roboclaw(rx, tx) |
sype | 7:af0e3da221a9 | 9 | { |
sype | 7:af0e3da221a9 | 10 | address = ID; |
sype | 0:af5cf35e1a25 | 11 | _roboclaw.baud(baudrate); |
sype | 0:af5cf35e1a25 | 12 | } |
sype | 0:af5cf35e1a25 | 13 | |
sype | 7:af0e3da221a9 | 14 | void RoboClaw::crc_clear() |
sype | 7:af0e3da221a9 | 15 | { |
sype | 0:af5cf35e1a25 | 16 | crc = 0; |
sype | 0:af5cf35e1a25 | 17 | } |
sype | 0:af5cf35e1a25 | 18 | |
sype | 7:af0e3da221a9 | 19 | void RoboClaw::crc_update (uint8_t data) |
sype | 7:af0e3da221a9 | 20 | { |
sype | 0:af5cf35e1a25 | 21 | int i; |
sype | 2:a2c141d922b3 | 22 | crc = crc ^ ((uint16_t)data << 8); |
sype | 3:5c6a9045c8f7 | 23 | for (i=0; i<8; i++) { |
sype | 0:af5cf35e1a25 | 24 | if (crc & 0x8000) |
sype | 0:af5cf35e1a25 | 25 | crc = (crc << 1) ^ 0x1021; |
sype | 0:af5cf35e1a25 | 26 | else |
sype | 0:af5cf35e1a25 | 27 | crc <<= 1; |
sype | 0:af5cf35e1a25 | 28 | } |
sype | 0:af5cf35e1a25 | 29 | } |
sype | 0:af5cf35e1a25 | 30 | |
sype | 7:af0e3da221a9 | 31 | uint16_t RoboClaw::crc_get() |
sype | 7:af0e3da221a9 | 32 | { |
sype | 0:af5cf35e1a25 | 33 | return crc; |
sype | 0:af5cf35e1a25 | 34 | } |
sype | 0:af5cf35e1a25 | 35 | |
sype | 7:af0e3da221a9 | 36 | void RoboClaw::write(uint8_t cnt, int32_t data[]) |
sype | 7:af0e3da221a9 | 37 | { |
sype | 7:af0e3da221a9 | 38 | _roboclaw.putc(address); |
sype | 0:af5cf35e1a25 | 39 | } |
sype | 0:af5cf35e1a25 | 40 | |
sype | 7:af0e3da221a9 | 41 | void RoboClaw::write_n(uint8_t cnt, ... ) |
sype | 7:af0e3da221a9 | 42 | { |
sype | 7:af0e3da221a9 | 43 | crc_clear(); |
sype | 7:af0e3da221a9 | 44 | va_list marker; |
sype | 7:af0e3da221a9 | 45 | va_start( marker, cnt ); |
sype | 7:af0e3da221a9 | 46 | for(uint8_t index=0; index<cnt; index++) { |
sype | 7:af0e3da221a9 | 47 | uint8_t data = va_arg(marker, unsigned int); |
sype | 7:af0e3da221a9 | 48 | _roboclaw.putc(data); |
sype | 7:af0e3da221a9 | 49 | crc_update(data); |
sype | 7:af0e3da221a9 | 50 | } |
sype | 7:af0e3da221a9 | 51 | va_end( marker ); |
sype | 7:af0e3da221a9 | 52 | uint16_t crc = crc_get(); |
sype | 7:af0e3da221a9 | 53 | _roboclaw.putc(crc>>8); |
sype | 7:af0e3da221a9 | 54 | _roboclaw.putc(crc); |
sype | 7:af0e3da221a9 | 55 | } |
sype | 7:af0e3da221a9 | 56 | |
sype | 7:af0e3da221a9 | 57 | void RoboClaw::write_(uint8_t command, uint8_t data, bool reading, bool crcon) |
sype | 7:af0e3da221a9 | 58 | { |
sype | 0:af5cf35e1a25 | 59 | _roboclaw.putc(address); |
sype | 0:af5cf35e1a25 | 60 | _roboclaw.putc(command); |
sype | 3:5c6a9045c8f7 | 61 | |
sype | 3:5c6a9045c8f7 | 62 | if(reading == false) { |
sype | 3:5c6a9045c8f7 | 63 | if(crcon == true) { |
sype | 2:a2c141d922b3 | 64 | uint8_t packet[2] = {address, command}; |
sype | 2:a2c141d922b3 | 65 | uint16_t checksum = crc16(packet,2); |
sype | 0:af5cf35e1a25 | 66 | _roboclaw.putc(checksum>>8); |
sype | 0:af5cf35e1a25 | 67 | _roboclaw.putc(checksum); |
sype | 3:5c6a9045c8f7 | 68 | } else { |
sype | 2:a2c141d922b3 | 69 | uint8_t packet[3] = {address, command, data}; |
sype | 2:a2c141d922b3 | 70 | uint16_t checksum = crc16(packet,3); |
sype | 0:af5cf35e1a25 | 71 | _roboclaw.putc(data); |
sype | 0:af5cf35e1a25 | 72 | _roboclaw.putc(checksum>>8); |
sype | 0:af5cf35e1a25 | 73 | _roboclaw.putc(checksum); |
sype | 0:af5cf35e1a25 | 74 | } |
sype | 0:af5cf35e1a25 | 75 | } |
sype | 0:af5cf35e1a25 | 76 | } |
sype | 0:af5cf35e1a25 | 77 | |
sype | 7:af0e3da221a9 | 78 | uint16_t RoboClaw::crc16(uint8_t *packet, int nBytes) |
sype | 7:af0e3da221a9 | 79 | { |
sype | 2:a2c141d922b3 | 80 | uint16_t crc_; |
sype | 0:af5cf35e1a25 | 81 | for (int byte = 0; byte < nBytes; byte++) { |
sype | 2:a2c141d922b3 | 82 | crc_ = crc_ ^ ((uint16_t)packet[byte] << 8); |
sype | 2:a2c141d922b3 | 83 | for (uint8_t bit = 0; bit < 8; bit++) { |
sype | 0:af5cf35e1a25 | 84 | if (crc_ & 0x8000) { |
sype | 0:af5cf35e1a25 | 85 | crc_ = (crc_ << 1) ^ 0x1021; |
sype | 0:af5cf35e1a25 | 86 | } else { |
sype | 0:af5cf35e1a25 | 87 | crc_ = crc_ << 1; |
sype | 0:af5cf35e1a25 | 88 | } |
sype | 0:af5cf35e1a25 | 89 | } |
sype | 0:af5cf35e1a25 | 90 | } |
sype | 0:af5cf35e1a25 | 91 | return crc_; |
sype | 0:af5cf35e1a25 | 92 | } |
sype | 0:af5cf35e1a25 | 93 | |
sype | 7:af0e3da221a9 | 94 | uint8_t RoboClaw::read_(void) |
sype | 7:af0e3da221a9 | 95 | { |
sype | 0:af5cf35e1a25 | 96 | return(_roboclaw.getc()); |
sype | 0:af5cf35e1a25 | 97 | } |
sype | 0:af5cf35e1a25 | 98 | |
sype | 7:af0e3da221a9 | 99 | void RoboClaw::ForwardM1(int speed) |
sype | 7:af0e3da221a9 | 100 | { |
sype | 7:af0e3da221a9 | 101 | write_(M1FORWARD,speed,false,false); |
sype | 0:af5cf35e1a25 | 102 | } |
sype | 0:af5cf35e1a25 | 103 | |
sype | 7:af0e3da221a9 | 104 | void RoboClaw::BackwardM1(int speed) |
sype | 7:af0e3da221a9 | 105 | { |
sype | 7:af0e3da221a9 | 106 | write_(M1BACKWARD,speed,false,false); |
sype | 0:af5cf35e1a25 | 107 | } |
sype | 0:af5cf35e1a25 | 108 | |
sype | 7:af0e3da221a9 | 109 | void RoboClaw::ForwardM2(int speed) |
sype | 7:af0e3da221a9 | 110 | { |
sype | 7:af0e3da221a9 | 111 | write_(M2FORWARD,speed,false,false); |
sype | 0:af5cf35e1a25 | 112 | } |
sype | 0:af5cf35e1a25 | 113 | |
sype | 7:af0e3da221a9 | 114 | void RoboClaw::BackwardM2(int speed) |
sype | 7:af0e3da221a9 | 115 | { |
sype | 7:af0e3da221a9 | 116 | write_(M2BACKWARD,speed,false,false); |
sype | 0:af5cf35e1a25 | 117 | } |
sype | 0:af5cf35e1a25 | 118 | |
sype | 7:af0e3da221a9 | 119 | void RoboClaw::Forward(int speed) |
sype | 7:af0e3da221a9 | 120 | { |
sype | 7:af0e3da221a9 | 121 | write_(MIXEDFORWARD,speed,false,false); |
sype | 0:af5cf35e1a25 | 122 | } |
sype | 0:af5cf35e1a25 | 123 | |
sype | 7:af0e3da221a9 | 124 | void RoboClaw::Backward(int speed) |
sype | 7:af0e3da221a9 | 125 | { |
sype | 7:af0e3da221a9 | 126 | write_(MIXEDBACKWARD,speed,false,false); |
sype | 0:af5cf35e1a25 | 127 | } |
sype | 0:af5cf35e1a25 | 128 | |
sype | 7:af0e3da221a9 | 129 | void RoboClaw::ReadFirm(void) |
sype | 7:af0e3da221a9 | 130 | { |
sype | 7:af0e3da221a9 | 131 | write_(GETVERSION,0x00,true,false); |
sype | 0:af5cf35e1a25 | 132 | } |
sype | 0:af5cf35e1a25 | 133 | |
sype | 7:af0e3da221a9 | 134 | int32_t RoboClaw::ReadEncM1(void) |
sype | 7:af0e3da221a9 | 135 | { |
sype | 2:a2c141d922b3 | 136 | int32_t enc1; |
sype | 2:a2c141d922b3 | 137 | uint16_t read_byte[7]; |
sype | 7:af0e3da221a9 | 138 | _roboclaw.putc(ADR); |
sype | 7:af0e3da221a9 | 139 | _roboclaw.putc(GETM1ENC); |
sype | 0:af5cf35e1a25 | 140 | |
sype | 2:a2c141d922b3 | 141 | read_byte[0] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 142 | read_byte[1] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 143 | read_byte[2] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 144 | read_byte[3] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 145 | read_byte[4] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 146 | read_byte[5] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 147 | read_byte[6] = (uint16_t)_roboclaw.getc(); |
sype | 3:5c6a9045c8f7 | 148 | |
sype | 0:af5cf35e1a25 | 149 | enc1 = read_byte[1]<<24; |
sype | 0:af5cf35e1a25 | 150 | enc1 |= read_byte[2]<<16; |
sype | 0:af5cf35e1a25 | 151 | enc1 |= read_byte[3]<<8; |
sype | 0:af5cf35e1a25 | 152 | enc1 |= read_byte[4]; |
sype | 3:5c6a9045c8f7 | 153 | |
sype | 0:af5cf35e1a25 | 154 | return enc1; |
sype | 0:af5cf35e1a25 | 155 | } |
sype | 0:af5cf35e1a25 | 156 | |
sype | 7:af0e3da221a9 | 157 | int32_t RoboClaw::ReadEncM2(void) |
sype | 7:af0e3da221a9 | 158 | { |
sype | 2:a2c141d922b3 | 159 | int32_t enc2; |
sype | 2:a2c141d922b3 | 160 | uint16_t read_byte2[7]; |
sype | 7:af0e3da221a9 | 161 | _roboclaw.putc(ADR); |
sype | 7:af0e3da221a9 | 162 | _roboclaw.putc(GETM2ENC); |
sype | 0:af5cf35e1a25 | 163 | |
sype | 2:a2c141d922b3 | 164 | read_byte2[0] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 165 | read_byte2[1] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 166 | read_byte2[2] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 167 | read_byte2[3] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 168 | read_byte2[4] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 169 | read_byte2[5] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 170 | read_byte2[6] = (uint16_t)_roboclaw.getc(); |
sype | 3:5c6a9045c8f7 | 171 | |
sype | 0:af5cf35e1a25 | 172 | enc2 = read_byte2[1]<<24; |
sype | 0:af5cf35e1a25 | 173 | enc2 |= read_byte2[2]<<16; |
sype | 0:af5cf35e1a25 | 174 | enc2 |= read_byte2[3]<<8; |
sype | 0:af5cf35e1a25 | 175 | enc2 |= read_byte2[4]; |
sype | 3:5c6a9045c8f7 | 176 | |
sype | 0:af5cf35e1a25 | 177 | return enc2; |
sype | 0:af5cf35e1a25 | 178 | } |
sype | 0:af5cf35e1a25 | 179 | |
sype | 7:af0e3da221a9 | 180 | int32_t RoboClaw::ReadSpeedM1() |
sype | 7:af0e3da221a9 | 181 | { |
sype | 2:a2c141d922b3 | 182 | int32_t speed1; |
sype | 2:a2c141d922b3 | 183 | uint16_t read_byte[7]; |
sype | 7:af0e3da221a9 | 184 | write_n(2,GETM1SPEED); |
sype | 0:af5cf35e1a25 | 185 | |
sype | 2:a2c141d922b3 | 186 | read_byte[0] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 187 | read_byte[1] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 188 | read_byte[2] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 189 | read_byte[3] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 190 | read_byte[4] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 191 | read_byte[5] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 192 | read_byte[6] = (uint16_t)_roboclaw.getc(); |
sype | 3:5c6a9045c8f7 | 193 | |
sype | 0:af5cf35e1a25 | 194 | speed1 = read_byte[1]<<24; |
sype | 0:af5cf35e1a25 | 195 | speed1 |= read_byte[2]<<16; |
sype | 0:af5cf35e1a25 | 196 | speed1 |= read_byte[3]<<8; |
sype | 0:af5cf35e1a25 | 197 | speed1 |= read_byte[4]; |
sype | 0:af5cf35e1a25 | 198 | return speed1; |
sype | 0:af5cf35e1a25 | 199 | } |
sype | 0:af5cf35e1a25 | 200 | |
sype | 7:af0e3da221a9 | 201 | int32_t RoboClaw::ReadSpeedM2(void) |
sype | 7:af0e3da221a9 | 202 | { |
sype | 2:a2c141d922b3 | 203 | int32_t speed2; |
sype | 2:a2c141d922b3 | 204 | uint16_t read_byte2[7]; |
sype | 7:af0e3da221a9 | 205 | write_n(2,GETM2SPEED); |
sype | 0:af5cf35e1a25 | 206 | |
sype | 2:a2c141d922b3 | 207 | read_byte2[0] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 208 | read_byte2[1] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 209 | read_byte2[2] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 210 | read_byte2[3] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 211 | read_byte2[4] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 212 | read_byte2[5] = (uint16_t)_roboclaw.getc(); |
sype | 2:a2c141d922b3 | 213 | read_byte2[6] = (uint16_t)_roboclaw.getc(); |
sype | 3:5c6a9045c8f7 | 214 | |
sype | 0:af5cf35e1a25 | 215 | speed2 = read_byte2[1]<<24; |
sype | 0:af5cf35e1a25 | 216 | speed2 |= read_byte2[2]<<16; |
sype | 0:af5cf35e1a25 | 217 | speed2 |= read_byte2[3]<<8; |
sype | 0:af5cf35e1a25 | 218 | speed2 |= read_byte2[4]; |
sype | 3:5c6a9045c8f7 | 219 | |
sype | 0:af5cf35e1a25 | 220 | return speed2; |
sype | 0:af5cf35e1a25 | 221 | } |
sype | 0:af5cf35e1a25 | 222 | |
sype | 7:af0e3da221a9 | 223 | void RoboClaw::ResetEnc(void) |
sype | 7:af0e3da221a9 | 224 | { |
sype | 7:af0e3da221a9 | 225 | crc_clear(); |
sype | 7:af0e3da221a9 | 226 | _roboclaw.putc(ADR); |
sype | 7:af0e3da221a9 | 227 | _roboclaw.putc(RESETENC); |
sype | 7:af0e3da221a9 | 228 | crc_update(ADR); |
sype | 7:af0e3da221a9 | 229 | crc_update(RESETENC); |
sype | 7:af0e3da221a9 | 230 | int16_t crc = crc_get(); |
sype | 7:af0e3da221a9 | 231 | _roboclaw.putc(crc>>8); |
sype | 7:af0e3da221a9 | 232 | _roboclaw.putc(crc); |
sype | 0:af5cf35e1a25 | 233 | } |
sype | 0:af5cf35e1a25 | 234 | |
sype | 7:af0e3da221a9 | 235 | void RoboClaw::SpeedM1(int32_t speed) |
sype | 7:af0e3da221a9 | 236 | { |
sype | 0:af5cf35e1a25 | 237 | write_n(6,address,M1SPEED,SetDWORDval(speed)); |
sype | 0:af5cf35e1a25 | 238 | } |
sype | 0:af5cf35e1a25 | 239 | |
sype | 7:af0e3da221a9 | 240 | void RoboClaw::SpeedM2(int32_t speed) |
sype | 7:af0e3da221a9 | 241 | { |
sype | 0:af5cf35e1a25 | 242 | write_n(6,address,M2SPEED,SetDWORDval(speed)); |
sype | 0:af5cf35e1a25 | 243 | } |
sype | 0:af5cf35e1a25 | 244 | |
sype | 7:af0e3da221a9 | 245 | void RoboClaw::SpeedAccelM1(int32_t accel, int32_t speed) |
sype | 7:af0e3da221a9 | 246 | { |
sype | 0:af5cf35e1a25 | 247 | write_n(10,address,M1SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed)); |
sype | 0:af5cf35e1a25 | 248 | } |
sype | 0:af5cf35e1a25 | 249 | |
sype | 7:af0e3da221a9 | 250 | void RoboClaw::SpeedAccelM2(int32_t accel, int32_t speed) |
sype | 7:af0e3da221a9 | 251 | { |
sype | 0:af5cf35e1a25 | 252 | write_n(10,address,M2SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed)); |
sype | 0:af5cf35e1a25 | 253 | } |
sype | 0:af5cf35e1a25 | 254 | |
sype | 7:af0e3da221a9 | 255 | void RoboClaw::SpeedAccelM1M2(int32_t accel1, int32_t speed1, int32_t accel2, int32_t speed2) |
sype | 7:af0e3da221a9 | 256 | { |
IceTeam | 6:ece8a8cdf4b0 | 257 | write_n(10,address,M2SPEEDACCEL,SetDWORDval(accel1),SetDWORDval(speed1),SetDWORDval(accel2),SetDWORDval(speed2)); |
sype | 5:ad00b3431ff5 | 258 | } |
sype | 5:ad00b3431ff5 | 259 | |
sype | 7:af0e3da221a9 | 260 | void RoboClaw::SpeedDistanceM1(int32_t speed, uint32_t distance, uint8_t buffer) |
sype | 7:af0e3da221a9 | 261 | { |
sype | 0:af5cf35e1a25 | 262 | write_n(11,address,M1SPEEDDIST,SetDWORDval(speed),SetDWORDval(distance),buffer); |
sype | 0:af5cf35e1a25 | 263 | } |
sype | 0:af5cf35e1a25 | 264 | |
sype | 7:af0e3da221a9 | 265 | void RoboClaw::SpeedDistanceM2(int32_t speed, uint32_t distance, uint8_t buffer) |
sype | 7:af0e3da221a9 | 266 | { |
sype | 0:af5cf35e1a25 | 267 | write_n(11,address,M2SPEEDDIST,SetDWORDval(speed),SetDWORDval(distance),buffer); |
sype | 0:af5cf35e1a25 | 268 | } |
sype | 0:af5cf35e1a25 | 269 | |
sype | 7:af0e3da221a9 | 270 | void RoboClaw::SpeedAccelDistanceM1(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer) |
sype | 7:af0e3da221a9 | 271 | { |
sype | 0:af5cf35e1a25 | 272 | write_n(15,address,M1SPEEDACCELDIST,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(distance),buffer); |
sype | 0:af5cf35e1a25 | 273 | } |
sype | 0:af5cf35e1a25 | 274 | |
sype | 7:af0e3da221a9 | 275 | void RoboClaw::SpeedAccelDistanceM2(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer) |
sype | 7:af0e3da221a9 | 276 | { |
sype | 0:af5cf35e1a25 | 277 | write_n(15,address,M2SPEEDACCELDIST,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(distance),buffer); |
sype | 0:af5cf35e1a25 | 278 | } |
sype | 0:af5cf35e1a25 | 279 | |
sype | 7:af0e3da221a9 | 280 | void RoboClaw::SpeedAccelDeccelPositionM1(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag) |
sype | 7:af0e3da221a9 | 281 | { |
sype | 1:f76058f9f548 | 282 | write_n(19,address,M1SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag); |
sype | 0:af5cf35e1a25 | 283 | } |
sype | 0:af5cf35e1a25 | 284 | |
sype | 7:af0e3da221a9 | 285 | void RoboClaw::SpeedAccelDeccelPositionM2(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag) |
sype | 7:af0e3da221a9 | 286 | { |
sype | 1:f76058f9f548 | 287 | write_n(19,address,M2SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag); |
sype | 1:f76058f9f548 | 288 | } |
sype | 1:f76058f9f548 | 289 | |
sype | 7:af0e3da221a9 | 290 | void RoboClaw::SpeedAccelDeccelPositionM1M2(uint32_t accel1,uint32_t speed1,uint32_t deccel1, int32_t position1,uint32_t accel2,uint32_t speed2,uint32_t deccel2, int32_t position2,uint8_t flag) |
sype | 7:af0e3da221a9 | 291 | { |
sype | 1:f76058f9f548 | 292 | write_n(35,address,MIXEDSPEEDACCELDECCELPOS,SetDWORDval(accel1),SetDWORDval(speed1),SetDWORDval(deccel1),SetDWORDval(position1),SetDWORDval(accel2),SetDWORDval(speed2),SetDWORDval(deccel2),SetDWORDval(position2),flag); |
sype | 1:f76058f9f548 | 293 | } |
sype | 1:f76058f9f548 | 294 |