Diff: AMT21.h

Revision:

0:f3d3f744dbd9

Child:

1:3838b5e3966c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AMT21.h	Thu Dec 10 06:41:13 2020 +0000
@@ -0,0 +1,57 @@
+#ifndef _INCLUDED_AMT212_H_
+#define _INCLUDED_AMT212_H_
+#include "mbed.h"
+
+#define SEND 1
+#define RECEIVE 0
+#define RECEIVE_COUNT 0
+#define RECEIVE_TURN 2
+#define GET_COUNT 84
+#define GET_TURN 85
+#define RESOLUTION_AMT21 16384
+#define DETECT_FLOW 5
+#define RESET 86
+#define COUNT_OFFSET 0
+#define GEER_STEER 280.0/50
+#ifndef M_PI
+#define M_PI 3.14159265359f
+#endif
+
+
+
+class Amt21
+{
+private:
+    int low_count,high_count;
+    int low_turn,high_turn;
+    int receive_mode;
+    int instruction;
+    void sendMessage();
+    void receiveMessage();
+    int receive_old;
+    int flow_count;
+    int th_min;
+    int th_max;
+    int count_;
+    int pre_count;
+    double omega_;
+    double pre_time;
+
+protected:
+    Serial serial_;//RS485通信
+    DigitalOut  rs485_mode;//送受信の切り替え
+public:
+    Amt21(PinName tx,PinName rx,PinName mode);//コンストラクタ
+
+    Timer timer_;
+
+    int getAbCount();//カウント数取得関数
+    int getTurn();//回転回数取得関数
+    int getCount();//インクリメント型のカウントと同じように使えて、-のカウントや16383以上のカウントを返す。
+    double getAngle();
+    void calOmega();
+    double getOmega();
+    void reset();//回転数のリセット関数。※0～360を示すカウント数はリセットされない。
+
+};
+#endif
\ No newline at end of file