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@0:7bf595a76895, 2022-07-02 (annotated)

Committer:
koki_konishi
Date:
Sat Jul 02 03:12:15 2022 +0000
Revision:
0:7bf595a76895
Child:
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 0:7bf595a76895 8 KRS(PinName tx,PinName rx);
koki_konishi 0:7bf595a76895 9
koki_konishi 0:7bf595a76895 10 void KRS::SetPosition(uint8_t address, uint16_t value);
koki_konishi 0:7bf595a76895 11
koki_konishi 0:7bf595a76895 12 private:
koki_konishi 0:7bf595a76895 13 uint8_t byteH, byteL;
koki_konishi 0:7bf595a76895 14 uint16_t ins;
koki_konishi 0:7bf595a76895 15
koki_konishi 0:7bf595a76895 16 Serial _serial;
koki_konishi 0:7bf595a76895 17 };
koki_konishi 0:7bf595a76895 18
koki_konishi 0:7bf595a76895 19 #endif