taka yamanouchi / MotorDrivers

first_library

Dependents:   2019_tourobo_upper minirobo_upper_reserve minirobo_under_reserve serial_RTX_NUCLEA

registers.h

Committer:
sink
Date:
2019-02-04
Revision:
1:9dd052490f0a

File content as of revision 1:9dd052490f0a:

#define ADR 0x80
#define M1FORWARD 0
#define M1BACKWARD 1
#define SETMINMB 2
#define SETMAXMB 3
#define M2FORWARD 4
#define M2BACKWARD 5
#define M17BIT 6
#define M27BIT 7
#define MIXEDFORWARD 8
#define MIXEDBACKWARD 9
#define MIXEDRIGHT 10
#define MIXEDLEFT 11
#define MIXEDFB 12
#define MIXEDLR 13
#define GETM1ENC 16
#define GETM2ENC 17
#define GETM1SPEED 18
#define GETM2SPEED 19
#define RESETENC 20
#define GETVERSION 21
#define SETM1ENCCOUNT  22
#define SETM2ENCCOUNT  23
#define GETMBATT  24
#define GETLBATT  25
#define SETMINLB  26
#define SETMAXLB  27
#define SETM1PID  28
#define SETM2PID  29
#define GETM1ISPEED  30
#define GETM2ISPEED  31
#define M1DUTY  32
#define M2DUTY  33
#define MIXEDDUTY  34
#define M1SPEED  35
#define M2SPEED  36
#define MIXEDSPEED  37
#define M1SPEEDACCEL  38
#define M2SPEEDACCEL  39
#define MIXEDSPEEDACCEL  40
#define M1SPEEDDIST  41
#define M2SPEEDDIST  42
#define MIXEDSPEEDDIST  43
#define M1SPEEDACCELDIST  44
#define M2SPEEDACCELDIST  45
#define MIXEDSPEEDACCELDIST  46
#define GETBUFFERS  47
#define GETCURRENTS  49
#define MIXEDSPEED2ACCEL  50
#define MIXEDSPEED2ACCELDIST  51
#define M1DUTYACCEL  52
#define M2DUTYACCEL  53
#define MIXEDDUTYACCEL  54
#define READM1PID  55
#define READM2PID  56
#define SETMAINVOLTAGES  57
#define SETLOGICVOLTAGES  58
#define GETMINMAXMAINVOLTAGES  59
#define GETMINMAXLOGICVOLTAGES  60
#define SETM1POSPID  61
#define SETM2POSPID  62
#define READM1POSPID  63
#define READM2POSPID  64
#define M1SPEEDACCELDECCELPOS  65
#define M2SPEEDACCELDECCELPOS  66
#define MIXEDSPEEDACCELDECCELPOS  67
#define SETM1DEFAULTACCEL  68
#define SETM2DEFAULTACCEL  69
#define SETPINFUNCTIONS  74
#define GETPINFUNCTIONS  75
#define RESTOREDEFAULTS  80
#define GETTEMP  82
#define GETTEMP2  83
#define GETERROR  90
#define GETENCODERMODE  91
#define SETM1ENCODERMODE  92
#define SETM2ENCODERMODE  93
#define WRITENVM  94
#define READNVM  95
#define SETCONFIG  98
#define GETCONFIG  99
#define SETM1MAXCURRENT  133
#define SETM2MAXCURRENT  134
#define GETM1MAXCURRENT  135
#define GETM2MAXCURRENT  136
#define SETPWMMODE  148
#define GETPWMMODE 149