Suga koubou / Mbed 2 deprecated eDES2WD_test

http://mbed.org/users/okini3939/notebook/daisen-edes/

Dependencies:   mbed

eDES2WD.cpp

Committer:
okini3939
Date:
2012-02-23
Revision:
0:141734449aeb
Child:
1:3c8a6bd50779

File content as of revision 0:141734449aeb:

#include "mbed.h"
#include "eDES2WD.h"

I2C i2c(p28, p27);

void eDES2WD_reset (int id) {
  char cmd[] = {1, I2C_WCMD_RESET};
  int adrs;
	
  if (0 < id){
    adrs = SUB_ADRS + (id - 1) * 2;
  } else {
    adrs = 0;
  }
  i2c.write(adrs, cmd, 2);
}

void eDES2WD_motor (int id, int l_speed, int r_speed) {
  char cmd[] = {3, I2C_WCMD_MOTOR, 0, 0};
  int adrs;
	
  cmd[2] = l_speed;
  cmd[3] = r_speed;
  if (0 < id){
    adrs = SUB_ADRS + (id - 1) * 2;
  } else {
    adrs = 0;
  }
  i2c.write(adrs, cmd, 4);
}

void eDES2WD_set_led (int id, int led, int sw) {
  char cmd[] = {3, I2C_WCMD_LED, 0, 0};
  int adrs;
	
  cmd[2] = led;
  cmd[3] = sw;
  if (0 < id){
    adrs = SUB_ADRS + (id - 1) * 2;
  } else {
    adrs = 0;
  }
  i2c.write(adrs, cmd, 4);
}