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.h

Committer:
kenken0721
Date:
2018-11-24
Revision:
3:42687d677641
Parent:
2:da6abd6afe26

File content as of revision 3:42687d677641:

#ifndef SERIALSERVO_H
#define SERIALSERVO_H

#define ICS_POS_CMD 0x80
#define ICS_PARA_WRITE_COMMND 0xC0
#define SUB_ST_COMMND 0x01
#define SUB_SP_COMMND 0x02

#include "mbed.h"


class Serialservo{
public  :    
    Serialservo(PinName TX, PinName RX, PinName Dout);
    void init();
    void move(char id,int pos);//0~270
    void stretch(char id,int str);//0~127
    void speed(char id,int spe);//0~127
    
private :
    Serial ser;
    DigitalOut switching;
    unsigned char tx_data[3];
    long map(long x, long in_min, long in_max, long out_min, long out_max);
    void flush();
    void transmission();
};

#endif