Nagano kosen robocon

Dependencies:   mbed QEI

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Show/hide line numbers Mu.cpp Source File

Mu.cpp

00001 #include "Mu.h"
00002 
00003 namespace MU {
00004     Serial MuUart(MU_TX, MU_RX);
00005 
00006     namespace {
00007         char Group[][4]     = {"01", "02", "03", "04"};
00008         char Channel[][4]   = {"08", "14", "1F", "2E"};
00009         char DI[][4]        = {"10", "20", "40", "80"};
00010         char EI[][4]        = {"01", "02", "04", "08"};
00011     }
00012 
00013     void Mu::SendCommand(char *command, char *value, uint8_t valueLength) {
00014         MuUart.putc('@');
00015         MuUart.putc(command[0]);
00016         MuUart.putc(command[1]);
00017         while(valueLength--) {
00018             MuUart.putc(*value);
00019             value++;
00020         }
00021         MuUart.putc('\r');
00022         MuUart.putc('\n');
00023     }
00024 
00025     void Mu::Initialize(uint8_t select) {
00026         MuUart.baud(19200);
00027 
00028         Mu::SendCommand("GI",Group[select],2);
00029         Mu::SendCommand("CH",Channel[select],2);
00030         Mu::SendCommand("DI",DI[select],2);
00031         Mu::SendCommand("EI",EI[select],2);
00032     }
00033 }