taka yamanouchi
first_library
Dependents: 2019_tourobo_upper minirobo_upper_reserve minirobo_under_reserve serial_RTX_NUCLEA
Diff: Sabertooth_Serial.cpp
- Revision:
- 0:03e99bd9339e
diff -r 000000000000 -r 03e99bd9339e Sabertooth_Serial.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sabertooth_Serial.cpp Mon Feb 04 04:30:22 2019 +0000
@@ -0,0 +1,12 @@
+#include "Sabertooth_Serial.h"
+
+SaberSerial::SaberSerial(int baudrate, PinName tx, PinName rx) : _Sabertooth(tx, rx){
+ _Sabertooth.baud(baudrate);
+}
+
+void SaberSerial::Serial(int address, int direction, int cmd){
+ _Sabertooth.putc(address);
+ _Sabertooth.putc(direction);
+ _Sabertooth.putc(abs(cmd));
+ _Sabertooth.putc((address + direction + abs(cmd)) & 0b01111111);
+}
\ No newline at end of file