Diff: minissc.cpp

Revision:

1:8f9d24a87600

Parent:

0:399d7ca2d0bb

Child:

2:e5458113c26b

--- a/minissc.cpp	Sun Oct 16 03:54:50 2011 +0000
+++ b/minissc.cpp	Sun Oct 16 05:08:27 2011 +0000
@@ -1,78 +1,67 @@
-/* 
- * Demo of communicating with Mini SSC 2.
- */
-
-#include "mbed.h"
-
-#define SSC_SYNC_BYTE 255
-
-class MiniSSC2 {
-    public:
-        MiniSSC2(int num_motors);
-        ~MiniSSC2();
-        void send();
-        void send(int i_motor);
-        void set(int i_motor, char value);
-    private:
-        Serial* p_device;
-        int num_motors;
-        
-        //These arrays send input to the miniSSC2 which in turn sends to the motors. 
-        //The format for the arrays: {SYNC_BYTE, servo number, speed}
-        //SYNC_BYTE tells the miniSSC2 that we're about to send new instructions.
-        //The servo number picks the motor. 1 = right, 2 = back, 3 = front, 4 = left
-        //We set the speed anywhere between 0 and 254. 127 is off, 254 is 100% forward, 0 is 100% back. Extrapolate.
-        //On the back motor, the numbers are reversed. 0 is 100% forward, 254 is 100% back. 127 is still off.
-        char motors[9]; // I think the Mini SSC2 supports 9 motors
-};
-
-MiniSSC2::MiniSSC2(int a) {
-    num_motors = a;
-    p_device = new Serial(p9, p10); //tx, rx
-    p_device->baud(9600);
-    for (int i = num_motors-1; i < num_motors; i++)
-        motors[i] = 127;
-}
-
-MiniSSC2::~MiniSSC2() {
-    if (p_device != NULL)
-        delete p_device;
-}
-
-void MiniSSC2::send() {
-    for (int i = 0; i < num_motors; i++) {
-        send(i);
-    }
-}
-
-void MiniSSC2::send(int i_motor) {
-    i_motor--;
-    
-    p_device->putc(SSC_SYNC_BYTE);
-    p_device->putc((char)i_motor);
-    p_device->putc(motors[i_motor]);
-}
-
-void MiniSSC2::set(int i_motor, char value) {
-    motors[i_motor-1] = value;
-}
-
-DigitalOut led1(LED1);
-
-MiniSSC2 ssc(4);
-Ticker ssc_to;
-
-void ssc_send_cb() {
-    ssc.send();
-}
-
-int main() {
-    ssc.set(1,33);
-    ssc.set(2,34);
-    ssc.set(3,35);
-    ssc.set(4,36);
-    
-    ssc_to.attach(&ssc_send_cb, 0.002);
-    while (true);
-}
-// Don't delete this comment.
+/* 
+ * Demo of communicating with Mini SSC 2.
+ */
+
+#include "mbed.h"
+#include "minissc.h"
+
+// MiniSSC2's Constructor
+MiniSSC2::MiniSSC2(int a, int baud) {
+    num_motors = a;
+    p_device = new Serial(p9, p10); // (tx, rx) opens up new serial device (p_device is Serial* pointer
+    p_device->baud(baud); // Set the baud. 
+    
+    set(127);
+}
+
+// MiniSSC2's Destructor
+MiniSSC2::~MiniSSC2() {
+    if (p_device != NULL) {
+        delete p_device; // must do this. otherwise, you'll have memory leakage & you may not be able to re-open the serial port
+    }
+}
+
+void MiniSSC2::send() {
+    for (int i = 0; i < num_motors; i++) {
+        send(i);
+    }
+}
+
+void MiniSSC2::send(int i_motor) {
+    // format: {sync byte, motor id, motor power}
+    // example: {255, 2, 24}
+    p_device->putc(SSC_SYNC_BYTE);
+    p_device->putc((char)i_motor);
+    p_device->putc(motors[i_motor-1]);
+}
+
+void MiniSSC2::set(char value) {
+    for (int i = 1; i <= num_motors; i++) {
+        set(i, value);
+    }
+}
+
+void MiniSSC2::set(int i_motor, char value) {
+    motors[i_motor-1] = value;
+}
+
+char MiniSSC2::get(int i_motor) {
+    return motors[i_motor-1];
+}
+
+MiniSSC2 ssc(4, 9600); // 4 motors, baud for MiniSSC2 is 9600
+Ticker ssc_to;
+
+void ssc_send_cb() {
+    ssc.send(); // is there a more efficient way to do this?
+}
+
+// MAIN FUNCTION ==============================================================
+int main() {
+    ssc_to.attach(&ssc_send_cb, 0.002); // run ssc_send_cb() every 0.002 seconds (Ticker)
+    
+    while (true) {
+        ssc.set(127);
+    }
+}
+// Don't delete this comment.