ケンタ ミヤザキ / kondoSerialServo

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Dependents:   quad_spider_nhk2019_04

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Show/hide line numbers SerialServo.h Source File

SerialServo.h

00001 #ifndef SERIALSERVO_H
00002 #define SERIALSERVO_H
00003 
00004 #define ICS_POS_CMD 0x80
00005 #define ICS_PARA_WRITE_COMMND 0xC0
00006 #define SUB_ST_COMMND 0x01
00007 #define SUB_SP_COMMND 0x02
00008 
00009 #include "mbed.h"
00010 
00011 
00012 class SerialServo{
00013 public  :
00014     SerialServo(PinName TX, PinName RX);
00015     void init();
00016     void move(char id,int pos);
00017     void speed(char id,int spe);//0~127
00018 private :
00019     Serial ser;
00020     unsigned char tx_data[3];
00021     void transmission();
00022 };
00023 
00024 #endif
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