kusano kiyoshige / rs422_put

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Dependents:   17robo_fuzi 17robo_tokyo_kaede

rs422_put.h@0:2365b54fd0db, 2017-09-24 (annotated)

Committer:
echo_piyo
Date:
Sun Sep 24 05:24:26 2017 +0000
Revision:
0:2365b54fd0db
Child:
1:dd594521d6e2
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:2365b54fd0db 1 /***************
echo_piyo 0:2365b54fd0db 2 RS422 master libraly
echo_piyo 0:2365b54fd0db 3
echo_piyo 0:2365b54fd0db 4 RS422 name(tx, rx)
echo_piyo 0:2365b54fd0db 5 tx : mbed_tx
echo_piyo 0:2365b54fd0db 6 rx : mbed_rx
echo_piyo 0:2365b54fd0db 7
echo_piyo 0:2365b54fd0db 8 put(int id, float m1_duty, float m2_duty)
echo_piyo 0:2365b54fd0db 9 id : NucleoのID 0~31
echo_piyo 0:2365b54fd0db 10 duty : モータにかけるPWMのDuty -1.0~1.0
echo_piyo 0:2365b54fd0db 11
echo_piyo 0:2365b54fd0db 12 ****************/
echo_piyo 0:2365b54fd0db 13
echo_piyo 0:2365b54fd0db 14 #ifndef MBED_RS422_PUT_H
echo_piyo 0:2365b54fd0db 15 #define MBED_RS422_PUT_H
echo_piyo 0:2365b54fd0db 16
echo_piyo 0:2365b54fd0db 17 #include "mbed.h"
echo_piyo 0:2365b54fd0db 18
echo_piyo 0:2365b54fd0db 19 #define start_signal 0b11111111
echo_piyo 0:2365b54fd0db 20 #define wait_time 0.0005
echo_piyo 0:2365b54fd0db 21
echo_piyo 0:2365b54fd0db 22 class Rs422
echo_piyo 0:2365b54fd0db 23 {
echo_piyo 0:2365b54fd0db 24 public :
echo_piyo 0:2365b54fd0db 25 Rs422(PinName mbed_tx, PinName mbed_rx);
echo_piyo 0:2365b54fd0db 26
echo_piyo 0:2365b54fd0db 27 void begin(int baudrate);
echo_piyo 0:2365b54fd0db 28
echo_piyo 0:2365b54fd0db 29 void put(short id, float m1_duty, float m2_duty);
echo_piyo 0:2365b54fd0db 30
echo_piyo 0:2365b54fd0db 31 private :
echo_piyo 0:2365b54fd0db 32 Serial RS422;
echo_piyo 0:2365b54fd0db 33 Ticker timer;
echo_piyo 0:2365b54fd0db 34
echo_piyo 0:2365b54fd0db 35 short flag;
echo_piyo 0:2365b54fd0db 36 int counter;
echo_piyo 0:2365b54fd0db 37 int m1_data,m2_data,check_sum;
echo_piyo 0:2365b54fd0db 38 int ID;
echo_piyo 0:2365b54fd0db 39
echo_piyo 0:2365b54fd0db 40 void put_time();
echo_piyo 0:2365b54fd0db 41 };
echo_piyo 0:2365b54fd0db 42
echo_piyo 0:2365b54fd0db 43 #endif