koki konishi / KRS

KRS ICSサーボモータ用ライブラリ

初期化 KRS name(tx,rx);

位置指定 void SetPosition(id, position); [position : 0 3500 ~ 11500]

速度設定 void SetSpeed(id, speed); [speed : 0 ~ 127]

ストレッチ設定 void SetStretch(id, stretch); [stretch : 0 ~ 127]

電流制限設定 void SetCurrent(id, rotate, value : 0 ~ 127); [rotate : KRS::F KRS::R KRS::COM, current : 0 ~ 64]

ID書き込み void WriteAddress(id);

id : 0x00 ~ 0x1F

KRS.h@2:431a802d01e2, 2022-07-03 (annotated)

Committer:
koki_konishi
Date:
Sun Jul 03 05:11:26 2022 +0000
Revision:
2:431a802d01e2
Parent:
1:50d0eb774b0d 
Kondo-servo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
koki_konishi 0:7bf595a76895 1 #ifndef MBED_KRS_H
koki_konishi 0:7bf595a76895 2 #define MBED_KRS_H
koki_konishi 0:7bf595a76895 3
koki_konishi 0:7bf595a76895 4 #include "mbed.h"
koki_konishi 0:7bf595a76895 5
koki_konishi 0:7bf595a76895 6 class KRS{
koki_konishi 0:7bf595a76895 7 public:
koki_konishi 1:50d0eb774b0d 8 typedef enum ROTATE {
koki_konishi 1:50d0eb774b0d 9 F,
koki_konishi 1:50d0eb774b0d 10 R,
koki_konishi 1:50d0eb774b0d 11 COM
koki_konishi 1:50d0eb774b0d 12 } ROTATE;
koki_konishi 1:50d0eb774b0d 13
koki_konishi 0:7bf595a76895 14 KRS(PinName tx,PinName rx);
koki_konishi 0:7bf595a76895 15
koki_konishi 2:431a802d01e2 16 void KRS::WriteAddress(uint8_t address);
koki_konishi 2:431a802d01e2 17
koki_konishi 1:50d0eb774b0d 18 void KRS::SetStretch(uint8_t address, uint8_t value);
koki_konishi 1:50d0eb774b0d 19
koki_konishi 1:50d0eb774b0d 20 void KRS::SetSpeed(uint8_t address, uint8_t value);
koki_konishi 1:50d0eb774b0d 21
koki_konishi 1:50d0eb774b0d 22 void KRS::SetCurrent(uint8_t address, ROTATE rotate, uint8_t value);
koki_konishi 1:50d0eb774b0d 23
koki_konishi 0:7bf595a76895 24 void KRS::SetPosition(uint8_t address, uint16_t value);
koki_konishi 0:7bf595a76895 25
koki_konishi 0:7bf595a76895 26 private:
koki_konishi 0:7bf595a76895 27 Serial _serial;
koki_konishi 0:7bf595a76895 28 };
koki_konishi 0:7bf595a76895 29
koki_konishi 0:7bf595a76895 30 #endif