taka yamanouchi / MotorDrivers

first_library

Dependents:   2019_tourobo_upper minirobo_upper_reserve minirobo_under_reserve serial_RTX_NUCLEA

Sabertooth_Serial.cpp@1:9dd052490f0a, 2019-02-04 (annotated)

Committer:
sink
Date:
Mon Feb 04 04:46:37 2019 +0000
Revision:
1:9dd052490f0a
Parent:
0:03e99bd9339e 
ok

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sink 0:03e99bd9339e 1 #include "Sabertooth_Serial.h"
sink 0:03e99bd9339e 2
sink 0:03e99bd9339e 3 SaberSerial::SaberSerial(int baudrate, PinName tx, PinName rx) : _Sabertooth(tx, rx){
sink 0:03e99bd9339e 4 _Sabertooth.baud(baudrate);
sink 0:03e99bd9339e 5 }
sink 0:03e99bd9339e 6
sink 0:03e99bd9339e 7 void SaberSerial::Serial(int address, int direction, int cmd){
sink 0:03e99bd9339e 8 _Sabertooth.putc(address);
sink 0:03e99bd9339e 9 _Sabertooth.putc(direction);
sink 0:03e99bd9339e 10 _Sabertooth.putc(abs(cmd));
sink 0:03e99bd9339e 11 _Sabertooth.putc((address + direction + abs(cmd)) & 0b01111111);
sink 0:03e99bd9339e 12 }