mukuyo hirohashi / Mbed 2 deprecated Rasp_serial

raspberry pi to stm32f303k8 for serial communication

Dependencies:   mbed Servo

Drive/Drive.hpp@0:7bc24e8d1591, 2021-05-02 (annotated)

Committer:
mukuyo
Date:
Sun May 02 15:01:33 2021 +0000
Revision:
0:7bc24e8d1591
update;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mukuyo 0:7bc24e8d1591 1 #ifndef Drive_hpp
mukuyo 0:7bc24e8d1591 2 #define Drive_hpp
mukuyo 0:7bc24e8d1591 3
mukuyo 0:7bc24e8d1591 4 #include "mbed.h"
mukuyo 0:7bc24e8d1591 5 #include "serial.h"
mukuyo 0:7bc24e8d1591 6 #include "Servo.h"
mukuyo 0:7bc24e8d1591 7
mukuyo 0:7bc24e8d1591 8 class Drive : public Rasp{
mukuyo 0:7bc24e8d1591 9 public:
mukuyo 0:7bc24e8d1591 10 Drive(PinName CAN_TX, PinName CAN_RX);
mukuyo 0:7bc24e8d1591 11 void setVelocity();
mukuyo 0:7bc24e8d1591 12 void calcWheelVelocity();
mukuyo 0:7bc24e8d1591 13 void dribble_set();
mukuyo 0:7bc24e8d1591 14 void setMotVel();
mukuyo 0:7bc24e8d1591 15 void initCAN();
mukuyo 0:7bc24e8d1591 16 void can_send();
mukuyo 0:7bc24e8d1591 17 int masuo_send();
mukuyo 0:7bc24e8d1591 18
mukuyo 0:7bc24e8d1591 19 private:
mukuyo 0:7bc24e8d1591 20 typedef struct {
mukuyo 0:7bc24e8d1591 21 union{
mukuyo 0:7bc24e8d1591 22 signed short Vel_short;
mukuyo 0:7bc24e8d1591 23 struct{
mukuyo 0:7bc24e8d1591 24 signed short L:8;
mukuyo 0:7bc24e8d1591 25 signed short H:8;
mukuyo 0:7bc24e8d1591 26 }Vel_char;
mukuyo 0:7bc24e8d1591 27 }Mot0Order;
mukuyo 0:7bc24e8d1591 28
mukuyo 0:7bc24e8d1591 29 union{
mukuyo 0:7bc24e8d1591 30 signed short Vel_short;
mukuyo 0:7bc24e8d1591 31 struct{
mukuyo 0:7bc24e8d1591 32 signed short L:8;
mukuyo 0:7bc24e8d1591 33 signed short H:8;
mukuyo 0:7bc24e8d1591 34 }Vel_char;
mukuyo 0:7bc24e8d1591 35 }Mot1Order;
mukuyo 0:7bc24e8d1591 36
mukuyo 0:7bc24e8d1591 37 union{
mukuyo 0:7bc24e8d1591 38 signed short Vel_short;
mukuyo 0:7bc24e8d1591 39 struct{
mukuyo 0:7bc24e8d1591 40 signed short L:8;
mukuyo 0:7bc24e8d1591 41 signed short H:8;
mukuyo 0:7bc24e8d1591 42 }Vel_char;
mukuyo 0:7bc24e8d1591 43 }Mot2Order;
mukuyo 0:7bc24e8d1591 44
mukuyo 0:7bc24e8d1591 45 union{
mukuyo 0:7bc24e8d1591 46 signed short Vel_short;
mukuyo 0:7bc24e8d1591 47 struct{
mukuyo 0:7bc24e8d1591 48 signed short L:8;
mukuyo 0:7bc24e8d1591 49 signed short H:8;
mukuyo 0:7bc24e8d1591 50 }Vel_char;
mukuyo 0:7bc24e8d1591 51 }Mot3Order;
mukuyo 0:7bc24e8d1591 52
mukuyo 0:7bc24e8d1591 53 } OrderMotVel;
mukuyo 0:7bc24e8d1591 54
mukuyo 0:7bc24e8d1591 55 OrderMotVel order;
mukuyo 0:7bc24e8d1591 56
mukuyo 0:7bc24e8d1591 57 Ticker can_Timer;
mukuyo 0:7bc24e8d1591 58 char send_motvel_data[8];
mukuyo 0:7bc24e8d1591 59 CAN canMBED;
mukuyo 0:7bc24e8d1591 60 float M[4];
mukuyo 0:7bc24e8d1591 61 float dribble_power;
mukuyo 0:7bc24e8d1591 62 DigitalOut LED;
mukuyo 0:7bc24e8d1591 63 Servo servo;
mukuyo 0:7bc24e8d1591 64 int count;
mukuyo 0:7bc24e8d1591 65 };
mukuyo 0:7bc24e8d1591 66
mukuyo 0:7bc24e8d1591 67 #endif