z ysaito / Mbed 2 deprecated CPro_DemoB1B2_0_Can_Class

2018.07.26

Dependencies:   EthernetInterface TextLCD USBDevice USBHost mbed

mtrAccess.h@0:19075177391c, 2018-07-26 (annotated)

Committer:
sayzyas
Date:
Thu Jul 26 00:18:49 2018 +0000
Revision:
0:19075177391c
2018.07.26

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sayzyas 0:19075177391c 1 class mtrAccess
sayzyas 0:19075177391c 2 {
sayzyas 0:19075177391c 3 private:
sayzyas 0:19075177391c 4
sayzyas 0:19075177391c 5 float motor1_current_center_value;
sayzyas 0:19075177391c 6 float motor2_current_center_value;
sayzyas 0:19075177391c 7 float motor3_current_center_value;
sayzyas 0:19075177391c 8 float motor1_current_fwd_thd;
sayzyas 0:19075177391c 9 float motor1_current_rvs_thd;
sayzyas 0:19075177391c 10 float motor2_current_fwd_thd;
sayzyas 0:19075177391c 11 float motor2_current_rvs_thd;
sayzyas 0:19075177391c 12 uint32_t motor_pantiltwch_1_lock_count;
sayzyas 0:19075177391c 13 uint32_t motor_pantiltwch_2_lock_count;
sayzyas 0:19075177391c 14 // Motor lock
sayzyas 0:19075177391c 15 volatile bool flg_motor_pantiltwch_1_lockcup;
sayzyas 0:19075177391c 16 volatile bool flg_motor_pantiltwch_2_lockcup;
sayzyas 0:19075177391c 17 volatile uint32_t flg_motor_pantiltwch_1_lock;
sayzyas 0:19075177391c 18 volatile uint32_t flg_motor_pantiltwch_2_lock;
sayzyas 0:19075177391c 19
sayzyas 0:19075177391c 20 int MCTR_CANID_CRAWLER; // CRAWLER motor ID
sayzyas 0:19075177391c 21 int MCTR_CANID_PTORWCH; // PAN,TILT(B1) or Winch(B2) motor ID
sayzyas 0:19075177391c 22 int MCTR_CANID_TRANSFORM; // TRANSFORM motor ID
sayzyas 0:19075177391c 23
sayzyas 0:19075177391c 24 bool sndCmd2MC( int rcan_id, int no, int speed );
sayzyas 0:19075177391c 25
sayzyas 0:19075177391c 26 public:
sayzyas 0:19075177391c 27
sayzyas 0:19075177391c 28 mtrAccess();
sayzyas 0:19075177391c 29 bool setBaudRate( int baudrate );
sayzyas 0:19075177391c 30 bool cmdControl( char* cmd, int sizeofcmd, int speed );
sayzyas 0:19075177391c 31 int readMotorCurrent( int motor_id, int motor_no, int motor_dir );
sayzyas 0:19075177391c 32 };