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?
User | Revision | Line number | New 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 |