nucleo側のプログラム
Dependents: serial_connected_mcu_nucleo serial_connected_mcu_nucleo
Fork of serial_connected_mcu by
Diff: serial_connected_mcu.hpp
- Revision:
- 16:4e310c3f3a2b
- Parent:
- 15:9a50a5a747ad
diff -r 9a50a5a747ad -r 4e310c3f3a2b serial_connected_mcu.hpp --- a/serial_connected_mcu.hpp Mon Aug 01 05:33:09 2016 +0000 +++ b/serial_connected_mcu.hpp Mon Aug 08 05:12:35 2016 +0000 @@ -23,7 +23,7 @@ static serial_connected_mcu* _instance; - static const int16_t _init_write_data[SIZE_OF_WRITE_DATA]; + static const float _sampling_delta_time_usec; static const PinName _servo_pins[]; static TIM_TypeDef* _encoder_timers[]; @@ -31,25 +31,18 @@ static const PinName _analog_input_pins[]; static const size_t _servo_num; - static const size_t _encoder_num; static const size_t _analog_input_num; + enum { + ENCODER_NUM = 3 + }; servo** _servos; rotary_encoder_ab_phase** _encoders; AnalogIn** _analog_inputs; - #ifdef USE_LIFTER_MODE - enum { - UPPER_LIMIT, - LOWER_LIMIT, - LIMIT_SWITCHES_NUM - }; - static const PinName _limit_switch_pins[LIMIT_SWITCHES_NUM]; - DigitalIn* _limit_switches[LIMIT_SWITCHES_NUM]; - #endif - float* _prev_encoders_values; Timer _timer; + float _encoders_speed[ENCODER_NUM]; serial_connected_mcu_slave _slave; };