kohei matsumoto / Mbed 2 deprecated NHK_CenterArm1

DRのPS3での操作用(アームの開閉をコントローラで制御可能)

Dependencies:   mbed CalPID motorout ros_lib_melodic MotorController_AbsEC

KondoServoLibrary/KondoServo.h@12:c2bb0a9587b5, 2021-07-30 (annotated)

Committer:
koheim
Date:
Fri Jul 30 11:36:46 2021 +0000
Revision:
12:c2bb0a9587b5
Parent:
0:83b2c6a67cce 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ayu13 0:83b2c6a67cce 1 #ifndef __KONDO_SERVO_H__
ayu13 0:83b2c6a67cce 2 #define __KONDO_SERVO_H__
ayu13 0:83b2c6a67cce 3
ayu13 0:83b2c6a67cce 4 #include "mbed.h"
ayu13 0:83b2c6a67cce 5 #include "SerialHalfDuplex.h"
ayu13 0:83b2c6a67cce 6
ayu13 0:83b2c6a67cce 7 typedef enum ServoMode{single = 0,multi = 1}s_mode;
ayu13 0:83b2c6a67cce 8 typedef unsigned char u8;
ayu13 0:83b2c6a67cce 9
ayu13 0:83b2c6a67cce 10 class KondoServo{
ayu13 0:83b2c6a67cce 11 protected:
ayu13 0:83b2c6a67cce 12 unsigned int baudrate;
ayu13 0:83b2c6a67cce 13 s_mode mode;
ayu13 0:83b2c6a67cce 14 SerialHalfDuplex master;
ayu13 0:83b2c6a67cce 15
ayu13 0:83b2c6a67cce 16 public:
ayu13 0:83b2c6a67cce 17 void init(int baud);
ayu13 0:83b2c6a67cce 18 void init();
ayu13 0:83b2c6a67cce 19
ayu13 0:83b2c6a67cce 20 void setSpeed(int id, u8 speed);
ayu13 0:83b2c6a67cce 21 float readSpeed(int id);
ayu13 0:83b2c6a67cce 22 int set_degree(int id,float degree);
ayu13 0:83b2c6a67cce 23 void setID(u8 id);
ayu13 0:83b2c6a67cce 24 u8 readID();
ayu13 0:83b2c6a67cce 25 ~KondoServo();
ayu13 0:83b2c6a67cce 26 KondoServo(PinName txPin,PinName rxPin, int quantity=2, unsigned int baud=115200);
ayu13 0:83b2c6a67cce 27
ayu13 0:83b2c6a67cce 28 };
ayu13 0:83b2c6a67cce 29 #endif