ライブラリ化を行った後
Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
Fork of 17robo_Practice1 by
headerfile_unuse/RS422_put_.h
- Committer:
- echo_piyo
- Date:
- 2017-09-24
- Revision:
- 66:1664ee92539d
- Parent:
- RS422_put.h@ 0:bf96e953cdb8
File content as of revision 66:1664ee92539d:
/*************** RS422 master libraly RS422 name(tx, rx) tx : mbed_tx rx : mbed_rx put(int id, float m1_duty, float m2_duty) id : 0 - 254 duty : -1.0 - 1.0 ****************/ #define start_signal 0b11111111 #define cool_time 0.0004 class RS422 { public : RS422(PinName mbed_tx, PinName mbed_rx) : Rs422(mbed_tx,mbed_rx) { } void begin(int baudrate) { Rs422.baud(baudrate); timer.attach(this, &RS422::put_time, cool_time); } void put(int id, float m1_duty, float m2_duty) { if (flag == 0) { ID = id; if (m1_duty < 0) { m1_data = 0b10000000; } else { m1_data = 0; } if (m2_duty < 0) { m2_data = 0b10000000; } else { m2_data = 0; } m1_data += fabs(m1_duty) * 100; m2_data += fabs(m2_duty) * 100; check_sum = (id + m1_data + m2_data) & 0b01111111; } flag = 1; } private : Serial Rs422; Ticker timer; short flag; int counter; int m1_data,m2_data,check_sum; int ID; void put_time() { switch (counter) { case 0 : Rs422.putc(start_signal); break; case 1 : Rs422.putc(ID); break; case 2 : Rs422.putc(m1_data); break; case 3 : Rs422.putc(m2_data); break; case 4 : Rs422.putc(check_sum); break; default : break; } counter ++; if(counter >= 5) { counter = 0; flag = 0; } } };