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Dependents: Serialservo_01 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more
Serialservo.h@3:42687d677641, 2018-11-24 (annotated)
- Committer:
- kenken0721
- Date:
- Sat Nov 24 02:27:41 2018 +0000
- Revision:
- 3:42687d677641
- Parent:
- 2:da6abd6afe26
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| kenken0721 | 0:2d468b5749f9 | 1 | #ifndef SERIALSERVO_H |
| kenken0721 | 0:2d468b5749f9 | 2 | #define SERIALSERVO_H |
| kenken0721 | 0:2d468b5749f9 | 3 | |
| kenken0721 | 2:da6abd6afe26 | 4 | #define ICS_POS_CMD 0x80 |
| kenken0721 | 2:da6abd6afe26 | 5 | #define ICS_PARA_WRITE_COMMND 0xC0 |
| kenken0721 | 2:da6abd6afe26 | 6 | #define SUB_ST_COMMND 0x01 |
| kenken0721 | 2:da6abd6afe26 | 7 | #define SUB_SP_COMMND 0x02 |
| kenken0721 | 2:da6abd6afe26 | 8 | |
| kenken0721 | 0:2d468b5749f9 | 9 | #include "mbed.h" |
| kenken0721 | 0:2d468b5749f9 | 10 | |
| kenken0721 | 2:da6abd6afe26 | 11 | |
| kenken0721 | 0:2d468b5749f9 | 12 | class Serialservo{ |
| kenken0721 | 0:2d468b5749f9 | 13 | public : |
| kenken0721 | 2:da6abd6afe26 | 14 | Serialservo(PinName TX, PinName RX, PinName Dout); |
| kenken0721 | 1:4caf52a715c2 | 15 | void init(); |
| kenken0721 | 2:da6abd6afe26 | 16 | void move(char id,int pos);//0~270 |
| kenken0721 | 2:da6abd6afe26 | 17 | void stretch(char id,int str);//0~127 |
| kenken0721 | 2:da6abd6afe26 | 18 | void speed(char id,int spe);//0~127 |
| kenken0721 | 1:4caf52a715c2 | 19 | |
| kenken0721 | 0:2d468b5749f9 | 20 | private : |
| kenken0721 | 0:2d468b5749f9 | 21 | Serial ser; |
| kenken0721 | 2:da6abd6afe26 | 22 | DigitalOut switching; |
| kenken0721 | 2:da6abd6afe26 | 23 | unsigned char tx_data[3]; |
| kenken0721 | 0:2d468b5749f9 | 24 | long map(long x, long in_min, long in_max, long out_min, long out_max); |
| kenken0721 | 2:da6abd6afe26 | 25 | void flush(); |
| kenken0721 | 2:da6abd6afe26 | 26 | void transmission(); |
| kenken0721 | 0:2d468b5749f9 | 27 | }; |
| kenken0721 | 0:2d468b5749f9 | 28 | |
| kenken0721 | 0:2d468b5749f9 | 29 | #endif |