koki konishi
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.cpp
- Revision:
- 0:7bf595a76895
- Child:
- 1:50d0eb774b0d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/KRS.cpp Sat Jul 02 03:12:15 2022 +0000
@@ -0,0 +1,31 @@
+#include "KRS.h"
+#include "mbed.h"
+
+KRS::KRS(PinName tx,PinName rx) : _serial(tx,rx){
+ _serial.baud(115200);
+ _serial.format(8,Serial::Even,1);
+}
+
+void KRS::SetPosition(uint8_t address, uint16_t value){
+ ins = 0b10000000;
+ if(address <= 0x1F){
+ ins |= address;
+ }else{
+ ins |= 0x1F;
+ }
+
+ if(value == 0){
+ value = 0;
+ }else if(value < 3500){
+ value = 3500;
+ }else if(value > 11500){
+ value = 11500;
+ }
+ byteH = value >> 7;
+ byteL = value;
+ byteL &= (0 << 8);
+
+ _serial.putc(ins);
+ _serial.putc(byteH);
+ _serial.putc(byteL);
+}
\ No newline at end of file