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

Committer:
koki_konishi
Date:
2022-07-03
Revision:
1:50d0eb774b0d
Parent:
0:7bf595a76895
Child:
2:431a802d01e2

File content as of revision 1:50d0eb774b0d:

#ifndef MBED_KRS_H
#define MBED_KRS_H

#include "mbed.h"

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:
    Serial _serial;
};

#endif