John Lam / Mbed 2 deprecated serial_mbed

robot arm

Dependencies:   mbed BufferedSerial

main.cpp@0:07a5cc567526, 2021-03-27 (annotated)

Committer:
howanglam3
Date:
Sat Mar 27 07:53:20 2021 +0000
Revision:
0:07a5cc567526
arm move;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
howanglam3 0:07a5cc567526 1 #include "mbed.h"
howanglam3 0:07a5cc567526 2 #include "BufferedSerial.h"
howanglam3 0:07a5cc567526 3
howanglam3 0:07a5cc567526 4
howanglam3 0:07a5cc567526 5 #define GET_LOW_char(A) (uint8_t)((A))
howanglam3 0:07a5cc567526 6 //Macro function get lower 8 bits of A
howanglam3 0:07a5cc567526 7 #define GET_HIGH_char(A) (uint8_t)((A) >> 8)
howanglam3 0:07a5cc567526 8 //Macro function get higher 8 bits of A
howanglam3 0:07a5cc567526 9 #define char_TO_HW(A, B) ((((uint16_t)(A)) << 8) | (uint8_t)(B))
howanglam3 0:07a5cc567526 10 //put A as higher 8 bits B as lower 8 bits which amalgamated into 16 bits integer
howanglam3 0:07a5cc567526 11 #define ID1 1
howanglam3 0:07a5cc567526 12 #define ID2 2
howanglam3 0:07a5cc567526 13 #define ID3 3
howanglam3 0:07a5cc567526 14 #define ID4 4
howanglam3 0:07a5cc567526 15
howanglam3 0:07a5cc567526 16 #define LOBOT_SERVO_FRAME_HEADER 0x55
howanglam3 0:07a5cc567526 17 #define LOBOT_SERVO_MOVE_TIME_WRITE 1
howanglam3 0:07a5cc567526 18
howanglam3 0:07a5cc567526 19 using namespace std;
howanglam3 0:07a5cc567526 20
howanglam3 0:07a5cc567526 21 BufferedSerial serial_port(PA_9, PA_10, 16, 16); // tx, rx, buffer size, multiple
howanglam3 0:07a5cc567526 22
howanglam3 0:07a5cc567526 23 DigitalOut myled(LED1);
howanglam3 0:07a5cc567526 24
howanglam3 0:07a5cc567526 25 char LobotCheckSum(char buf[])
howanglam3 0:07a5cc567526 26 {
howanglam3 0:07a5cc567526 27 char i;
howanglam3 0:07a5cc567526 28 uint16_t temp = 0;
howanglam3 0:07a5cc567526 29 for (i = 2; i < buf[3] + 2; i++) {
howanglam3 0:07a5cc567526 30 temp += buf[i];
howanglam3 0:07a5cc567526 31 }
howanglam3 0:07a5cc567526 32 temp = ~temp;
howanglam3 0:07a5cc567526 33 i = (char)temp;
howanglam3 0:07a5cc567526 34 return i;
howanglam3 0:07a5cc567526 35 }
howanglam3 0:07a5cc567526 36
howanglam3 0:07a5cc567526 37
howanglam3 0:07a5cc567526 38 void LobotSerialoneServoMove(uint8_t id, int16_t position, uint16_t time)
howanglam3 0:07a5cc567526 39 {
howanglam3 0:07a5cc567526 40 char buf[10];
howanglam3 0:07a5cc567526 41 if(position < 0)
howanglam3 0:07a5cc567526 42 position = 0;
howanglam3 0:07a5cc567526 43 if(position > 1000)
howanglam3 0:07a5cc567526 44 position = 1000;
howanglam3 0:07a5cc567526 45 buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
howanglam3 0:07a5cc567526 46 buf[2] = 0x08;
howanglam3 0:07a5cc567526 47 buf[3] = 0x03;
howanglam3 0:07a5cc567526 48 buf[4] = 0x01;
howanglam3 0:07a5cc567526 49 buf[5] = GET_LOW_char(time);
howanglam3 0:07a5cc567526 50 buf[6] = GET_HIGH_char(time);
howanglam3 0:07a5cc567526 51 buf[7] = id;
howanglam3 0:07a5cc567526 52 buf[8] = GET_LOW_char(position);
howanglam3 0:07a5cc567526 53 buf[9] = GET_HIGH_char(position);
howanglam3 0:07a5cc567526 54 serial_port.write(buf, 10);
howanglam3 0:07a5cc567526 55 }
howanglam3 0:07a5cc567526 56
howanglam3 0:07a5cc567526 57
howanglam3 0:07a5cc567526 58 int main() {
howanglam3 0:07a5cc567526 59 //serial_port.set_baud(115200);
howanglam3 0:07a5cc567526 60 //serial_port.set_format(8,BufferedSerial::None,1);
howanglam3 0:07a5cc567526 61 //char buf[10]={0};
howanglam3 0:07a5cc567526 62 while(1){
howanglam3 0:07a5cc567526 63 myled = 1;
howanglam3 0:07a5cc567526 64 LobotSerialoneServoMove(ID1, 700, 1000);//id, pos, time
howanglam3 0:07a5cc567526 65 LobotSerialoneServoMove(ID2, 500, 1000);
howanglam3 0:07a5cc567526 66 wait_ms(1000);
howanglam3 0:07a5cc567526 67 LobotSerialoneServoMove(ID1, 500, 1000);
howanglam3 0:07a5cc567526 68 LobotSerialoneServoMove(ID2, 600, 1000);
howanglam3 0:07a5cc567526 69 wait_ms(1000);
howanglam3 0:07a5cc567526 70 LobotSerialoneServoMove(ID1, 900, 1000);
howanglam3 0:07a5cc567526 71 LobotSerialoneServoMove(ID2, 700, 1000);
howanglam3 0:07a5cc567526 72 wait_ms(1000);
howanglam3 0:07a5cc567526 73 LobotSerialoneServoMove(ID1, 500, 1000);
howanglam3 0:07a5cc567526 74 LobotSerialoneServoMove(ID2, 600, 1000);
howanglam3 0:07a5cc567526 75 wait_ms(1000);
howanglam3 0:07a5cc567526 76 myled = 0;
howanglam3 0:07a5cc567526 77 wait_ms(1000);
howanglam3 0:07a5cc567526 78 }
howanglam3 0:07a5cc567526 79 }