Diff: SMC02B.cpp

Revision:

0:33043894c6cb

Child:

4:420e977e37b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SMC02B.cpp	Mon Oct 11 18:38:26 2010 +0000
@@ -0,0 +1,75 @@
+/**
+* Includes
+*/
+#include "SMC02B.h" 
+ 
+    SMC02B::SMC02B(PinName tx, PinName rx, PinName pin) : _rst(pin)
+    {
+        _SMC02B = new Serial( tx, rx);
+        _rst = 1;
+    }
+
+    void SMC02B::SMC02B_RST(void)
+    {
+        _rst = 1;
+        wait(0.1);
+        _rst = 0;
+        wait(0.1);
+        _rst = 1;
+        wait(0.1);
+    }
+
+    // Set Motor movement
+    // motor
+    // motor ID
+    // direction
+    // 0 - Reverse
+    // 1 - Forward
+    // speed
+    // 0 - 127 ( 0x7F )
+    void SMC02B::SMC02B_MOTOR_SET( char motor, char direction, char speed )
+    {
+        char motor_ = motor << 1;
+        _SMC02B -> putc( SMC02B_START_BYTE );
+        _SMC02B -> putc( SMC02B_DEVICE_ID );
+        _SMC02B -> putc( motor_ | direction );    
+        _SMC02B -> putc( speed );
+    }
+
+    // OFF Backward -> Brake
+    void SMC02B::SMC02B_MOTOR_BRAKE( char motor )
+    {
+        char motor_ = motor << 1;
+        _SMC02B -> putc( SMC02B_START_BYTE );
+        _SMC02B -> putc( SMC02B_DEVICE_ID );
+        _SMC02B -> putc( motor_ | 0x00 );    
+        _SMC02B -> putc( 0x00 );
+    }
+
+    // OFF Forward -> Coasting
+    void SMC02B::SMC02B_MOTOR_COAST( char motor )
+    {
+        char motor_ = motor << 1;
+        _SMC02B -> putc( SMC02B_START_BYTE );
+        _SMC02B -> putc( SMC02B_DEVICE_ID );
+        _SMC02B -> putc( motor_ | 0x01 );    
+        _SMC02B -> putc( 0x00 );
+    }
+
+    // Config
+    // mode 
+    // 0 - 2 Motors
+    // 1 - 1 Motor
+    // motor
+    // 0 - 63 ( 0x3F ) First motor number
+    void SMC02B::SMC02B_CONFIG( char mode, char motor )
+    {
+        char mode_ = mode << 6;
+        char motor_ = motor & 0x3F;
+        _SMC02B -> putc( SMC02B_START_BYTE );
+        _SMC02B -> putc( SMC02B_CONFIG_BYTE );
+        _SMC02B -> putc(mode_ | motor_ );    
+    }
+
+
+