Dependents: Serialservo_01 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more
Diff: Serialservo.h
- Revision:
- 2:da6abd6afe26
- Parent:
- 1:4caf52a715c2
diff -r 4caf52a715c2 -r da6abd6afe26 Serialservo.h --- a/Serialservo.h Mon Nov 05 09:09:16 2018 +0000 +++ b/Serialservo.h Fri Nov 23 08:38:33 2018 +0000 @@ -1,20 +1,29 @@ #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); + Serialservo(PinName TX, PinName RX, PinName Dout); void init(); - void move(char id,int value);//0~270 - void stretch(char id,int value);//0~127 - void speed(char id,int value);//0~127 + 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; - unsigned char servoval; + 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 \ No newline at end of file