ケンタ ミヤザキ / Serialservo

Dependents:   Serialservo_01 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more

Serialservo.cpp@1:4caf52a715c2, 2018-11-05 (annotated)

Committer:
kenken0721
Date:
Mon Nov 05 09:09:16 2018 +0000
Revision:
1:4caf52a715c2
Parent:
0:2d468b5749f9
Child:
2:da6abd6afe26
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenken0721 0:2d468b5749f9 1 #include "mbed.h"
kenken0721 0:2d468b5749f9 2 #include "Serialservo.h"
kenken0721 0:2d468b5749f9 3
kenken0721 0:2d468b5749f9 4 long Serialservo::map(long x, long in_min, long in_max, long out_min, long out_max){
kenken0721 0:2d468b5749f9 5 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
kenken0721 0:2d468b5749f9 6 }
kenken0721 0:2d468b5749f9 7
kenken0721 0:2d468b5749f9 8 Serialservo::Serialservo(PinName TX, PinName RX) : ser(TX, RX){
kenken0721 0:2d468b5749f9 9 }
kenken0721 0:2d468b5749f9 10
kenken0721 1:4caf52a715c2 11 void Serialservo::init(){
kenken0721 0:2d468b5749f9 12 ser.baud(115200);
kenken0721 0:2d468b5749f9 13 ser.format(8, Serial::Even, 1);
kenken0721 0:2d468b5749f9 14 }
kenken0721 0:2d468b5749f9 15
kenken0721 1:4caf52a715c2 16
kenken0721 1:4caf52a715c2 17 void Serialservo::stretch(char id,int value){
kenken0721 0:2d468b5749f9 18 unsigned char h,l,head;
kenken0721 0:2d468b5749f9 19 int temp1, temp2;
kenken0721 1:4caf52a715c2 20 head = 0xC0 | id;
kenken0721 1:4caf52a715c2 21 temp1 = 0x01;
kenken0721 1:4caf52a715c2 22 temp2 = value;
kenken0721 0:2d468b5749f9 23 h = (unsigned char)temp1;
kenken0721 0:2d468b5749f9 24 l = (unsigned char)temp2;
kenken0721 0:2d468b5749f9 25 ser.putc(head);
kenken0721 0:2d468b5749f9 26 ser.putc(h);
kenken0721 0:2d468b5749f9 27 ser.putc(l);
kenken0721 0:2d468b5749f9 28 }
kenken0721 1:4caf52a715c2 29
kenken0721 1:4caf52a715c2 30 void Serialservo::speed(char id,int value){
kenken0721 1:4caf52a715c2 31 unsigned char h,l,head;
kenken0721 1:4caf52a715c2 32 int temp1, temp2;
kenken0721 1:4caf52a715c2 33 head = 0xC0 | id;
kenken0721 1:4caf52a715c2 34 temp1 = 0x02;
kenken0721 1:4caf52a715c2 35 temp2 = value;
kenken0721 1:4caf52a715c2 36 h = (unsigned char)temp1;
kenken0721 1:4caf52a715c2 37 l = (unsigned char)temp2;
kenken0721 1:4caf52a715c2 38 ser.putc(head);
kenken0721 1:4caf52a715c2 39 ser.putc(h);
kenken0721 1:4caf52a715c2 40 ser.putc(l);
kenken0721 1:4caf52a715c2 41 }
kenken0721 1:4caf52a715c2 42
kenken0721 1:4caf52a715c2 43 void Serialservo::move(char id,int value){
kenken0721 1:4caf52a715c2 44 value = (int)map((int)value, 270, 0, 3500, 11500);
kenken0721 1:4caf52a715c2 45 unsigned char h,l,head;
kenken0721 1:4caf52a715c2 46 int temp1, temp2;
kenken0721 1:4caf52a715c2 47 temp1 = (value & 0x3F80) >> 7;
kenken0721 1:4caf52a715c2 48 temp2 = value & 0x7f;
kenken0721 1:4caf52a715c2 49 head = 0x80 | id;
kenken0721 1:4caf52a715c2 50 h = (unsigned char)temp1;
kenken0721 1:4caf52a715c2 51 l = (unsigned char)temp2;
kenken0721 1:4caf52a715c2 52 ser.putc(head);
kenken0721 1:4caf52a715c2 53 ser.putc(h);
kenken0721 1:4caf52a715c2 54 ser.putc(l);
kenken0721 1:4caf52a715c2 55 }