kusano kiyoshige / Mbed 2 deprecated 17robo_tokyo_kaede

sampleProgram

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_fuzi by kusano kiyoshige

RS422_put.h@0:bf96e953cdb8, 2017-06-26 (annotated)

Committer:
echo_piyo
Date:
Mon Jun 26 09:59:14 2017 +0000
Revision:
0:bf96e953cdb8
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:bf96e953cdb8 1 /***************
echo_piyo 0:bf96e953cdb8 2 RS422 master libraly
echo_piyo 0:bf96e953cdb8 3
echo_piyo 0:bf96e953cdb8 4 RS422 name(tx, rx)
echo_piyo 0:bf96e953cdb8 5 tx : mbed_tx
echo_piyo 0:bf96e953cdb8 6 rx : mbed_rx
echo_piyo 0:bf96e953cdb8 7
echo_piyo 0:bf96e953cdb8 8 put(int id, float m1_duty, float m2_duty)
echo_piyo 0:bf96e953cdb8 9 id : 0 - 254
echo_piyo 0:bf96e953cdb8 10 duty : -1.0 - 1.0
echo_piyo 0:bf96e953cdb8 11
echo_piyo 0:bf96e953cdb8 12 ****************/
echo_piyo 0:bf96e953cdb8 13
echo_piyo 0:bf96e953cdb8 14
echo_piyo 0:bf96e953cdb8 15 #define start_signal 0b11111111
echo_piyo 0:bf96e953cdb8 16 #define cool_time 0.0004
echo_piyo 0:bf96e953cdb8 17
echo_piyo 0:bf96e953cdb8 18 class RS422
echo_piyo 0:bf96e953cdb8 19 {
echo_piyo 0:bf96e953cdb8 20 public :
echo_piyo 0:bf96e953cdb8 21 RS422(PinName mbed_tx, PinName mbed_rx) : Rs422(mbed_tx,mbed_rx) {
echo_piyo 0:bf96e953cdb8 22 }
echo_piyo 0:bf96e953cdb8 23
echo_piyo 0:bf96e953cdb8 24 void begin(int baudrate) {
echo_piyo 0:bf96e953cdb8 25 Rs422.baud(baudrate);
echo_piyo 0:bf96e953cdb8 26 timer.attach(this, &RS422::put_time, cool_time);
echo_piyo 0:bf96e953cdb8 27 }
echo_piyo 0:bf96e953cdb8 28
echo_piyo 0:bf96e953cdb8 29 void put(int id, float m1_duty, float m2_duty) {
echo_piyo 0:bf96e953cdb8 30 if (flag == 0) {
echo_piyo 0:bf96e953cdb8 31 ID = id;
echo_piyo 0:bf96e953cdb8 32 if (m1_duty < 0) {
echo_piyo 0:bf96e953cdb8 33 m1_data = 0b10000000;
echo_piyo 0:bf96e953cdb8 34 } else {
echo_piyo 0:bf96e953cdb8 35 m1_data = 0;
echo_piyo 0:bf96e953cdb8 36 }
echo_piyo 0:bf96e953cdb8 37 if (m2_duty < 0) {
echo_piyo 0:bf96e953cdb8 38 m2_data = 0b10000000;
echo_piyo 0:bf96e953cdb8 39 } else {
echo_piyo 0:bf96e953cdb8 40 m2_data = 0;
echo_piyo 0:bf96e953cdb8 41 }
echo_piyo 0:bf96e953cdb8 42 m1_data += fabs(m1_duty) * 100;
echo_piyo 0:bf96e953cdb8 43 m2_data += fabs(m2_duty) * 100;
echo_piyo 0:bf96e953cdb8 44
echo_piyo 0:bf96e953cdb8 45 check_sum = (id + m1_data + m2_data) & 0b01111111;
echo_piyo 0:bf96e953cdb8 46 }
echo_piyo 0:bf96e953cdb8 47 flag = 1;
echo_piyo 0:bf96e953cdb8 48 }
echo_piyo 0:bf96e953cdb8 49
echo_piyo 0:bf96e953cdb8 50 private :
echo_piyo 0:bf96e953cdb8 51 Serial Rs422;
echo_piyo 0:bf96e953cdb8 52 Ticker timer;
echo_piyo 0:bf96e953cdb8 53
echo_piyo 0:bf96e953cdb8 54 short flag;
echo_piyo 0:bf96e953cdb8 55 int counter;
echo_piyo 0:bf96e953cdb8 56 int m1_data,m2_data,check_sum;
echo_piyo 0:bf96e953cdb8 57 int ID;
echo_piyo 0:bf96e953cdb8 58
echo_piyo 0:bf96e953cdb8 59 void put_time() {
echo_piyo 0:bf96e953cdb8 60 switch (counter) {
echo_piyo 0:bf96e953cdb8 61 case 0 :
echo_piyo 0:bf96e953cdb8 62 Rs422.putc(start_signal);
echo_piyo 0:bf96e953cdb8 63 break;
echo_piyo 0:bf96e953cdb8 64 case 1 :
echo_piyo 0:bf96e953cdb8 65 Rs422.putc(ID);
echo_piyo 0:bf96e953cdb8 66 break;
echo_piyo 0:bf96e953cdb8 67 case 2 :
echo_piyo 0:bf96e953cdb8 68 Rs422.putc(m1_data);
echo_piyo 0:bf96e953cdb8 69 break;
echo_piyo 0:bf96e953cdb8 70 case 3 :
echo_piyo 0:bf96e953cdb8 71 Rs422.putc(m2_data);
echo_piyo 0:bf96e953cdb8 72 break;
echo_piyo 0:bf96e953cdb8 73 case 4 :
echo_piyo 0:bf96e953cdb8 74 Rs422.putc(check_sum);
echo_piyo 0:bf96e953cdb8 75 break;
echo_piyo 0:bf96e953cdb8 76 default :
echo_piyo 0:bf96e953cdb8 77 break;
echo_piyo 0:bf96e953cdb8 78 }
echo_piyo 0:bf96e953cdb8 79 counter ++;
echo_piyo 0:bf96e953cdb8 80 if(counter >= 5) {
echo_piyo 0:bf96e953cdb8 81 counter = 0;
echo_piyo 0:bf96e953cdb8 82 flag = 0;
echo_piyo 0:bf96e953cdb8 83 }
echo_piyo 0:bf96e953cdb8 84 }
echo_piyo 0:bf96e953cdb8 85 };