Diff: serial/serial.cpp

Revision:

0:7bc24e8d1591

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/serial/serial.cpp	Sun May 02 15:01:33 2021 +0000
@@ -0,0 +1,34 @@
+#include "serial.h"
+Rasp::Rasp(PinName TX,PinName RX): device(USBTX,USBRX) {
+    device.baud(115200);//通信速度最速
+    device.attach(callback(this,&Rasp::dev_rx), RawSerial::RxIrq);//角度割り込み入力
+    u=0;
+    ID=0;
+    rx_val=0;
+    BUFFER_SIZE=6;
+}
+
+void Rasp::dev_rx(){
+  u++;
+  buffer[u-1]=device.getc();
+  rx_val=buffer[0];
+  if(buffer[0]!=0xFF)u--;
+  if(u==BUFFER_SIZE){
+     if(buffer[0]==0xFF){
+         u=0;
+         motor_limit = buffer[1]/100;
+         for(int i = 0; i < 4; i++){
+           Motor_pow[i] = buffer[i+2] - 100;
+           Motor_pow[i] *= 0.4;
+         }
+     }
+  }
+}
+void Rasp::put(int val){
+    device.putc(val);
+}
+void Rasp::get(float &a, int num){
+   
+       a= Motor_pow[num];
+   
+}
\ No newline at end of file