tarou yamada / serial_connected_mcu

nucleo側のプログラム

Dependents:   serial_connected_mcu_nucleo serial_connected_mcu_nucleo

Fork of serial_connected_mcu by tarou yamada

Files at this revision

API Documentation at this revision

Revision 6:a0cc9c27cedf, committed 2016-07-10

Comitter:
inst
Date:
Sun Jul 10 07:38:13 2016 +0000
Parent:
4:1323ef48a984
Child:
7:f8dd6ab9ce94
Commit message:
???

Changed in this revision

serial_connected_mcu.cpp Show annotated file Show diff for this revision Revisions of this file
serial_connected_mcu.hpp Show annotated file Show diff for this revision Revisions of this file 
--- a/serial_connected_mcu.cpp	Sun Jul 10 07:10:24 2016 +0000
+++ b/serial_connected_mcu.cpp	Sun Jul 10 07:38:13 2016 +0000
@@ -5,6 +5,15 @@
 namespace serial_connected_mcu {
     
 serial_connected_mcu* serial_connected_mcu::_instance = NULL;
+
+const int16_t _init_write_data[SIZE_OF_WRITE_DATA] = {
+    0, // ENCODER1
+    0, // ENCODER2
+    0, // ENCODER3
+    65535 / 2, // POTENTIONMETER1
+    65535 / 2, // POTENTIONMETER2
+    65535 / 2  // POTENTIONMETER3
+};
 const PinName serial_connected_mcu::_servo_pins[SERVO_NUM] = {
     PB_6,
     PB_7,
@@ -25,7 +34,6 @@
     A5
 };
 
-
 serial_connected_mcu* serial_connected_mcu::instance() {
     if (_instance == NULL) {
         _instance = new serial_connected_mcu;
@@ -34,11 +42,9 @@
 }
 
 serial_connected_mcu::serial_connected_mcu() {
-    /*
-    for (size_t i = 0; i < serial_connected_mcu::serial_connected_mcu_slave::) {
-        _slave.set();
+    for (size_t i = 0; i < serial_connected_mcu::serial_connected_mcu_slave::SIZE_OF_WRITE_DATA; ++i) {
+        _slave.set(i, 0);
     }
-    */
     
     for (size_t i = 0; i < SERVO_NUM; ++i) {
         _servos[i] = new servo(_servo_pins[i]);
@@ -64,7 +70,16 @@
 }
 
 void serial_connected_mcu::update() {
+    _slave.set(serial_connected_mcu::ENCODER1, _encoders[0]);
+    _slave.set(serial_connected_mcu::ENCODER1, _encoders[0]);
+    _slave.set(serial_connected_mcu::ENCODER1, _encoders[0]);
+    _slave.set(serial_connected_mcu::POTENTIONMETER1, _analog_inputs[0]);
+    _slave.set(serial_connected_mcu::POTENTIONMETER2, _analog_inputs[1]);
+    _slave.set(serial_connected_mcu::POTENTIONMETER3, _analog_inputs[2]);
     
+    _servos[0] = _slave.get(serial_connected_mcu::ESC1);
+    _servos[1] = _slave.get(serial_connected_mcu::ESC2);
+    _servos[2] = _slave.get(serial_connected_mcu::ESC3);
 }
 
 } /* namespace serial_connected_mcu */

--- a/serial_connected_mcu.hpp	Sun Jul 10 07:10:24 2016 +0000
+++ b/serial_connected_mcu.hpp	Sun Jul 10 07:38:13 2016 +0000
@@ -44,6 +44,8 @@
     
     static serial_connected_mcu* _instance;
     
+    static const int16_t _init_write_data[SIZE_OF_WRITE_DATA];
+    
     static const PinName _servo_pins[SERVO_NUM];
     
     static TIM_TypeDef* _encoder_timers[ENCODER_NUM];