mukuyo hirohashi
/
Rasp_serial
raspberry pi to stm32f303k8 for serial communication
Diff: Drive/Drive.hpp
- Revision:
- 0:7bc24e8d1591
diff -r 000000000000 -r 7bc24e8d1591 Drive/Drive.hpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Drive/Drive.hpp Sun May 02 15:01:33 2021 +0000 @@ -0,0 +1,67 @@ +#ifndef Drive_hpp +#define Drive_hpp + +#include "mbed.h" +#include "serial.h" +#include "Servo.h" + +class Drive : public Rasp{ + public: + Drive(PinName CAN_TX, PinName CAN_RX); + void setVelocity(); + void calcWheelVelocity(); + void dribble_set(); + void setMotVel(); + void initCAN(); + void can_send(); + int masuo_send(); + + private: + typedef struct { + union{ + signed short Vel_short; + struct{ + signed short L:8; + signed short H:8; + }Vel_char; + }Mot0Order; + + union{ + signed short Vel_short; + struct{ + signed short L:8; + signed short H:8; + }Vel_char; + }Mot1Order; + + union{ + signed short Vel_short; + struct{ + signed short L:8; + signed short H:8; + }Vel_char; + }Mot2Order; + + union{ + signed short Vel_short; + struct{ + signed short L:8; + signed short H:8; + }Vel_char; + }Mot3Order; + + } OrderMotVel; + + OrderMotVel order; + + Ticker can_Timer; + char send_motvel_data[8]; + CAN canMBED; + float M[4]; + float dribble_power; + DigitalOut LED; + Servo servo; + int count; +}; + +#endif \ No newline at end of file