ケンタ ミヤザキ
kondoSerialservo krs6003rhv
Dependents: quad_spider_nhk2019_04
SerialServo.cpp@2:a1e245feb5a2, 2019-03-17 (annotated)
- Committer:
- kenken0721
- Date:
- Sun Mar 17 11:24:38 2019 +0000
- Revision:
- 2:a1e245feb5a2
- Parent:
- 1:a07940935629
- Child:
- 3:490e970d2795
Who changed what in which revision?
| User | Revision | Line number | New 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 |