ケンタ ミヤザキ / kondoSerialServo

kondoSerialservo krs6003rhv

Dependents:   quad_spider_nhk2019_04

SerialServo.cpp@3:490e970d2795, 2019-05-01 (annotated)

Committer:
kenken0721
Date:
Wed May 01 03:47:13 2019 +0000
Revision:
3:490e970d2795
Parent:
2:a1e245feb5a2 
kondo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenken0721 0:e7ccd59b1ab3 1 #include "mbed.h"
kenken0721 0:e7ccd59b1ab3 2 #include "SerialServo.h"
kenken0721 0:e7ccd59b1ab3 3 //#include "Servo.h"
kenken0721 0:e7ccd59b1ab3 4
kenken0721 0:e7ccd59b1ab3 5 SerialServo::SerialServo(PinName TX, PinName RX) : ser(TX, RX){
kenken0721 0:e7ccd59b1ab3 6 }
kenken0721 0:e7ccd59b1ab3 7
kenken0721 0:e7ccd59b1ab3 8 //初期化関数
kenken0721 0:e7ccd59b1ab3 9 void SerialServo::init(){
kenken0721 0:e7ccd59b1ab3 10 ser.baud(115200);
kenken0721 0:e7ccd59b1ab3 11 ser.format(8, Serial::Even, 1);
kenken0721 0:e7ccd59b1ab3 12 tx_data[0] = 0;
kenken0721 0:e7ccd59b1ab3 13 tx_data[1] = 0;
kenken0721 0:e7ccd59b1ab3 14 tx_data[2] = 0;
kenken0721 0:e7ccd59b1ab3 15 }
kenken0721 0:e7ccd59b1ab3 16
kenken0721 0:e7ccd59b1ab3 17
kenken0721 0:e7ccd59b1ab3 18 //データ送信関数
kenken0721 0:e7ccd59b1ab3 19 void SerialServo::transmission(){
kenken0721 0:e7ccd59b1ab3 20 ser.putc(tx_data[0]);
kenken0721 0:e7ccd59b1ab3 21 ser.putc(tx_data[1]);
kenken0721 0:e7ccd59b1ab3 22 ser.putc(tx_data[2]);
kenken0721 2:a1e245feb5a2 23 //wait_us(1000);
kenken0721 0:e7ccd59b1ab3 24 }
kenken0721 0:e7ccd59b1ab3 25
kenken0721 0:e7ccd59b1ab3 26 //ポジション設定
kenken0721 0:e7ccd59b1ab3 27 void SerialServo::move(char id,int pos){
kenken0721 0:e7ccd59b1ab3 28 int temp1 = (pos & 0x3F80) >> 7;
kenken0721 0:e7ccd59b1ab3 29 int temp2 = pos & 0x7f;
kenken0721 0:e7ccd59b1ab3 30 tx_data[0] = ICS_POS_CMD | id;
kenken0721 0:e7ccd59b1ab3 31 tx_data[1] = (unsigned char)temp1;
kenken0721 0:e7ccd59b1ab3 32 tx_data[2] = (unsigned char)temp2;
kenken0721 0:e7ccd59b1ab3 33 transmission();//送信
kenken0721 0:e7ccd59b1ab3 34 }
kenken0721 0:e7ccd59b1ab3 35
kenken0721 3:490e970d2795 36 void SerialServo::speed(char id,int spe){
kenken0721 3:490e970d2795 37 int temp1 = SUB_SP_COMMND;
kenken0721 3:490e970d2795 38 int temp2 = spe;
kenken0721 3:490e970d2795 39 tx_data[0] = ICS_PARA_WRITE_COMMND | id;
kenken0721 3:490e970d2795 40 tx_data[1] = (unsigned char)temp1;
kenken0721 3:490e970d2795 41 tx_data[2] = (unsigned char)temp2;
kenken0721 3:490e970d2795 42 transmission();//送信
kenken0721 3:490e970d2795 43 }
kenken0721 3:490e970d2795 44
kenken0721 3:490e970d2795 45