ケンタ ミヤザキ / kondoSerialServo

kondoSerialservo krs6003rhv

Dependents:   quad_spider_nhk2019_04

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

Committer:
kenken0721
Date:
Wed May 01 03:47:13 2019 +0000
Revision:
3:490e970d2795
Parent:
0:e7ccd59b1ab3 
kondo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenken0721 0:e7ccd59b1ab3 1 #ifndef SERIALSERVO_H
kenken0721 0:e7ccd59b1ab3 2 #define SERIALSERVO_H
kenken0721 0:e7ccd59b1ab3 3
kenken0721 0:e7ccd59b1ab3 4 #define ICS_POS_CMD 0x80
kenken0721 0:e7ccd59b1ab3 5 #define ICS_PARA_WRITE_COMMND 0xC0
kenken0721 0:e7ccd59b1ab3 6 #define SUB_ST_COMMND 0x01
kenken0721 0:e7ccd59b1ab3 7 #define SUB_SP_COMMND 0x02
kenken0721 0:e7ccd59b1ab3 8
kenken0721 0:e7ccd59b1ab3 9 #include "mbed.h"
kenken0721 0:e7ccd59b1ab3 10
kenken0721 0:e7ccd59b1ab3 11
kenken0721 0:e7ccd59b1ab3 12 class SerialServo{
kenken0721 0:e7ccd59b1ab3 13 public :
kenken0721 0:e7ccd59b1ab3 14 SerialServo(PinName TX, PinName RX);
kenken0721 0:e7ccd59b1ab3 15 void init();
kenken0721 0:e7ccd59b1ab3 16 void move(char id,int pos);
kenken0721 3:490e970d2795 17 void speed(char id,int spe);//0~127
kenken0721 0:e7ccd59b1ab3 18 private :
kenken0721 0:e7ccd59b1ab3 19 Serial ser;
kenken0721 0:e7ccd59b1ab3 20 unsigned char tx_data[3];
kenken0721 0:e7ccd59b1ab3 21 void transmission();
kenken0721 0:e7ccd59b1ab3 22 };
kenken0721 0:e7ccd59b1ab3 23
kenken0721 0:e7ccd59b1ab3 24 #endif