Diff: rs422_put.h

Revision:

0:2365b54fd0db

Child:

1:dd594521d6e2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rs422_put.h	Sun Sep 24 05:24:26 2017 +0000
@@ -0,0 +1,43 @@
+/***************
+RS422 master libraly
+
+RS422 name(tx, rx)
+tx : mbed_tx
+rx : mbed_rx
+
+put(int id, float m1_duty, float m2_duty)
+id   : NucleoのID 0~31
+duty : モータにかけるPWMのDuty -1.0~1.0
+
+****************/
+
+#ifndef MBED_RS422_PUT_H
+#define MBED_RS422_PUT_H
+
+#include "mbed.h"
+
+#define start_signal    0b11111111
+#define wait_time       0.0005
+
+class Rs422
+{
+public :
+    Rs422(PinName mbed_tx, PinName mbed_rx);
+
+    void begin(int baudrate);
+
+    void put(short id, float m1_duty, float m2_duty);
+
+private :
+    Serial RS422;
+    Ticker timer;
+
+    short flag;
+    int counter;
+    int m1_data,m2_data,check_sum;
+    int ID;
+
+    void put_time();
+};
+
+#endif
\ No newline at end of file