Suga koubou / Mbed 2 deprecated eDES2WD_test

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

Dependencies:   mbed

eDES2WD.cpp@0:141734449aeb, 2012-02-23 (annotated)

Committer:
okini3939
Date:
Thu Feb 23 01:33:12 2012 +0000
Revision:
0:141734449aeb
Child:
1:3c8a6bd50779

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


okini3939

0:141734449aeb


     1

#include "mbed.h"





okini3939

0:141734449aeb


     2

#include "eDES2WD.h"





okini3939

0:141734449aeb


     3







okini3939

0:141734449aeb


     4

I2C i2c(p28, p27);





okini3939

0:141734449aeb


     5







okini3939

0:141734449aeb


     6

void eDES2WD_reset (int id) {





okini3939

0:141734449aeb


     7

  char cmd[] = {1, I2C_WCMD_RESET};





okini3939

0:141734449aeb


     8

  int adrs;





okini3939

0:141734449aeb


     9

	





okini3939

0:141734449aeb


    10

  if (0 < id){





okini3939

0:141734449aeb


    11

    adrs = SUB_ADRS + (id - 1) * 2;





okini3939

0:141734449aeb


    12

  } else {





okini3939

0:141734449aeb


    13

    adrs = 0;





okini3939

0:141734449aeb


    14

  }





okini3939

0:141734449aeb


    15

  i2c.write(adrs, cmd, 2);





okini3939

0:141734449aeb


    16

}





okini3939

0:141734449aeb


    17







okini3939

0:141734449aeb


    18

void eDES2WD_motor (int id, int l_speed, int r_speed) {





okini3939

0:141734449aeb


    19

  char cmd[] = {3, I2C_WCMD_MOTOR, 0, 0};





okini3939

0:141734449aeb


    20

  int adrs;





okini3939

0:141734449aeb


    21

	





okini3939

0:141734449aeb


    22

  cmd[2] = l_speed;





okini3939

0:141734449aeb


    23

  cmd[3] = r_speed;





okini3939

0:141734449aeb


    24

  if (0 < id){





okini3939

0:141734449aeb


    25

    adrs = SUB_ADRS + (id - 1) * 2;





okini3939

0:141734449aeb


    26

  } else {





okini3939

0:141734449aeb


    27

    adrs = 0;





okini3939

0:141734449aeb


    28

  }





okini3939

0:141734449aeb


    29

  i2c.write(adrs, cmd, 4);





okini3939

0:141734449aeb


    30

}





okini3939

0:141734449aeb


    31







okini3939

0:141734449aeb


    32

void eDES2WD_set_led (int id, int led, int sw) {





okini3939

0:141734449aeb


    33

  char cmd[] = {3, I2C_WCMD_LED, 0, 0};





okini3939

0:141734449aeb


    34

  int adrs;





okini3939

0:141734449aeb


    35

	





okini3939

0:141734449aeb


    36

  cmd[2] = led;





okini3939

0:141734449aeb


    37

  cmd[3] = sw;





okini3939

0:141734449aeb


    38

  if (0 < id){





okini3939

0:141734449aeb


    39

    adrs = SUB_ADRS + (id - 1) * 2;





okini3939

0:141734449aeb


    40

  } else {





okini3939

0:141734449aeb


    41

    adrs = 0;





okini3939

0:141734449aeb


    42

  }





okini3939

0:141734449aeb


    43

  i2c.write(adrs, cmd, 4);





okini3939

0:141734449aeb


    44

}