Diff: YMotorDriver.cpp

Revision:

2:2e3b56f045f5

Parent:

1:793d739ebf5e

Child:

4:7b3ed02bf4cc

--- a/YMotorDriver.cpp	Sun Aug 23 15:19:34 2015 +0000
+++ b/YMotorDriver.cpp	Wed Oct 14 06:05:13 2015 +0000
@@ -7,33 +7,31 @@
 const PinName YMotorDriver::mAddressDeciderPinName[]  = {
     dp17, dp18, dp26, dp25
 };
+
 const char YMotorDriver::mYMotorDriverBaseAddress[] = {
     0xA0 | ( 0x01 << 1 ),
     0xA0 | ( 0x02 << 1 ),
-    0xA0 | ( 0x03 << 1 ),
-    0xA0 | ( 0x04 << 1 )
+    0xA0 | ( 0x03 << 1 )
 };
 const char YMotorDriver::mYMotorDriverServoAddress[] = {
+    0xA0 | ( 0x04 << 1 ),
     0xA0 | ( 0x05 << 1 ),
     0xA0 | ( 0x06 << 1 ),
-    0xA0 | ( 0x07 << 1 ),
-    0xA0 | ( 0x08 << 1 ),
-    0xA0 | ( 0x09 << 1 ),
+    0xA0 | ( 0x0D << 1 ),
+    0xA0 | ( 0x08 << 1 )
+};
+const char YMotorDriver::mYMotorDriverShooterAddress[] = {
+    0xA0 | ( 0x09 << 1 )
+};
+const char YMotorDriver::mYMotorDriverPusherAddress[] = {
     0xA0 | ( 0x0A << 1 )
 };
 const char YMotorDriver::mYMotorDriverSupplierAddress[] = {
-    0xA0 | ( 0x0B << 1 ),
-    0xA0 | ( 0x0C << 1 )
-};
-const char YMotorDriver::mYMotorDriverPusherAddress[] = {
-    0xA0 | ( 0x0D << 1 )
+    0xA0 | ( 0x0B << 1 )
 };
-const char YMotorDriver::mYMotorDriverShooterAddress[] = {
-    0xA0 | ( 0x0E << 1 )
-};
-const size_t YMotorDriver::mNumOfYMotorDriverBaseAddress     = 4;
-const size_t YMotorDriver::mNumOfYMotorDriverServoAddress    = 6;
-const size_t YMotorDriver::mNumOfYMotorDriverSupplierAddress = 2;
+const size_t YMotorDriver::mNumOfYMotorDriverBaseAddress     = 3;
+const size_t YMotorDriver::mNumOfYMotorDriverServoAddress    = 5;
+const size_t YMotorDriver::mNumOfYMotorDriverSupplierAddress = 1;
 const size_t YMotorDriver::mNumOfYMotorDriverPusherAddress   = 1;
 const size_t YMotorDriver::mNumOfYMotorDriverShooterAddress  = 1;
 
@@ -45,10 +43,11 @@
         address |= d.read() << ( i + 1 );
     }
     
+    // アドレスによって機能を変える
     // Motor
     for ( int i = 0; i < mNumOfYMotorDriverBaseAddress; ++i ){
         if ( address == mYMotorDriverBaseAddress[ i ] ){
-            mYMotorDriver = new YMotorDriverBase( address );
+            mYMotorDriver = new YMotorDriverBase( address, i );
             return;
         }
     }
@@ -80,7 +79,8 @@
             return;
         }
     }
-     
+    
+    // 機能が割り振られていないアドレスならLEDを点滅させておく
     DigitalOut err( dp28 );
     while ( true ){
         printf( "address:%d\r", address );