Hiroaki Matsuda
/
mbed-for-McuComm
this is program for mbed ,to relay MCUcomm data to servo
command/command.cpp@0:09bf8e3091e8, 2012-11-28 (annotated)
- Committer:
- matsu
- Date:
- Wed Nov 28 17:12:00 2012 +0000
- Revision:
- 0:09bf8e3091e8
- Child:
- 1:0fe52e356d01
to move servo using data from pc by serial; ; ver 1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
matsu | 0:09bf8e3091e8 | 1 | #include "command.h" |
matsu | 0:09bf8e3091e8 | 2 | #include "mbed.h" |
matsu | 0:09bf8e3091e8 | 3 | |
matsu | 0:09bf8e3091e8 | 4 | |
matsu | 0:09bf8e3091e8 | 5 | |
matsu | 0:09bf8e3091e8 | 6 | |
matsu | 0:09bf8e3091e8 | 7 | |
matsu | 0:09bf8e3091e8 | 8 | Command::Command(PinName pin) :Servo(pin) |
matsu | 0:09bf8e3091e8 | 9 | { |
matsu | 0:09bf8e3091e8 | 10 | |
matsu | 0:09bf8e3091e8 | 11 | }; |
matsu | 0:09bf8e3091e8 | 12 | |
matsu | 0:09bf8e3091e8 | 13 | void Command::targetPosition(int number ,int receive) |
matsu | 0:09bf8e3091e8 | 14 | { |
matsu | 0:09bf8e3091e8 | 15 | switch(number-3){ |
matsu | 0:09bf8e3091e8 | 16 | case 0: |
matsu | 0:09bf8e3091e8 | 17 | _position = receive<<8; |
matsu | 0:09bf8e3091e8 | 18 | break; |
matsu | 0:09bf8e3091e8 | 19 | case 1: |
matsu | 0:09bf8e3091e8 | 20 | _position += receive; |
matsu | 0:09bf8e3091e8 | 21 | break; |
matsu | 0:09bf8e3091e8 | 22 | case 2: |
matsu | 0:09bf8e3091e8 | 23 | _time = receive<<8; |
matsu | 0:09bf8e3091e8 | 24 | break; |
matsu | 0:09bf8e3091e8 | 25 | case 3: |
matsu | 0:09bf8e3091e8 | 26 | _time += receive; |
matsu | 0:09bf8e3091e8 | 27 | break; |
matsu | 0:09bf8e3091e8 | 28 | } |
matsu | 0:09bf8e3091e8 | 29 | |
matsu | 0:09bf8e3091e8 | 30 | } |
matsu | 0:09bf8e3091e8 | 31 | |
matsu | 0:09bf8e3091e8 | 32 | void Command::homePosition(int number ,int receive) |
matsu | 0:09bf8e3091e8 | 33 | { |
matsu | 0:09bf8e3091e8 | 34 | switch(number-3){ |
matsu | 0:09bf8e3091e8 | 35 | case 0: |
matsu | 0:09bf8e3091e8 | 36 | _position = receive<<8; |
matsu | 0:09bf8e3091e8 | 37 | break; |
matsu | 0:09bf8e3091e8 | 38 | case 1: |
matsu | 0:09bf8e3091e8 | 39 | _position += receive; |
matsu | 0:09bf8e3091e8 | 40 | break; |
matsu | 0:09bf8e3091e8 | 41 | case 2: |
matsu | 0:09bf8e3091e8 | 42 | _homePosition = _position; |
matsu | 0:09bf8e3091e8 | 43 | break; |
matsu | 0:09bf8e3091e8 | 44 | } |
matsu | 0:09bf8e3091e8 | 45 | } |
matsu | 0:09bf8e3091e8 | 46 | |
matsu | 0:09bf8e3091e8 | 47 | |
matsu | 0:09bf8e3091e8 | 48 | int Command::getPosition() |
matsu | 0:09bf8e3091e8 | 49 | { |
matsu | 0:09bf8e3091e8 | 50 | return _position; |
matsu | 0:09bf8e3091e8 | 51 | } |
matsu | 0:09bf8e3091e8 | 52 | |
matsu | 0:09bf8e3091e8 | 53 | int Command::getTime() |
matsu | 0:09bf8e3091e8 | 54 | { |
matsu | 0:09bf8e3091e8 | 55 | return _time; |
matsu | 0:09bf8e3091e8 | 56 | } |
matsu | 0:09bf8e3091e8 | 57 | |
matsu | 0:09bf8e3091e8 | 58 | int Command::getHomeposition() |
matsu | 0:09bf8e3091e8 | 59 | { |
matsu | 0:09bf8e3091e8 | 60 | return _homePosition; |
matsu | 0:09bf8e3091e8 | 61 | } |
matsu | 0:09bf8e3091e8 | 62 | |
matsu | 0:09bf8e3091e8 | 63 | void Command::onOff() { |
matsu | 0:09bf8e3091e8 | 64 | if(_on == false){ |
matsu | 0:09bf8e3091e8 | 65 | _on = true; |
matsu | 0:09bf8e3091e8 | 66 | write(getPosition()/1800); |
matsu | 0:09bf8e3091e8 | 67 | }else if(_on == true){ |
matsu | 0:09bf8e3091e8 | 68 | _on = false; |
matsu | 0:09bf8e3091e8 | 69 | _pwm.pulsewidth(0); |
matsu | 0:09bf8e3091e8 | 70 | } |
matsu | 0:09bf8e3091e8 | 71 | } |
matsu | 0:09bf8e3091e8 | 72 | |
matsu | 0:09bf8e3091e8 | 73 | Command& Command::operator= (float percent) { |
matsu | 0:09bf8e3091e8 | 74 | write(percent); |
matsu | 0:09bf8e3091e8 | 75 | return *this; |
matsu | 0:09bf8e3091e8 | 76 | } |
matsu | 0:09bf8e3091e8 | 77 | |
matsu | 0:09bf8e3091e8 | 78 | Command& Command::operator= (Command& rhs) { |
matsu | 0:09bf8e3091e8 | 79 | write(rhs.read()); |
matsu | 0:09bf8e3091e8 | 80 | return *this; |
matsu | 0:09bf8e3091e8 | 81 | } |
matsu | 0:09bf8e3091e8 | 82 |