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

Diff: KRS.h

Revision:
1:50d0eb774b0d
Parent:
0:7bf595a76895
Child:
2:431a802d01e2
--- a/KRS.h	Sat Jul 02 03:12:15 2022 +0000
+++ b/KRS.h	Sun Jul 03 04:35:46 2022 +0000
@@ -5,14 +5,23 @@
 
 class KRS{
     public: 
+    typedef enum ROTATE {
+        F,
+        R,
+        COM
+    } ROTATE;
+    
     KRS(PinName tx,PinName rx);
     
+    void KRS::SetStretch(uint8_t address, uint8_t value);
+    
+    void KRS::SetSpeed(uint8_t address, uint8_t value);
+    
+    void KRS::SetCurrent(uint8_t address, ROTATE rotate, uint8_t value);
+    
     void KRS::SetPosition(uint8_t address, uint16_t value);
     
     private:
-    uint8_t byteH, byteL;
-    uint16_t ins;
-    
     Serial _serial;
 };