sornpraram xu / RMD

RMD-X Motor Library - Last Update V0.5 - On going...... Current available Function - read velocity - read all data - send velocity - send position

RMD.h@0:433e4ec5de88, 2020-11-04 (annotated)

Committer:
sornpraram
Date:
Wed Nov 04 09:20:53 2020 +0000
Revision:
0:433e4ec5de88
Child:
3:83fc10ac844c
0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sornpraram 0:433e4ec5de88 1 #ifndef RMD_H
sornpraram 0:433e4ec5de88 2 #define RMD_H
sornpraram 0:433e4ec5de88 3
sornpraram 0:433e4ec5de88 4 #include "mbed.h"
sornpraram 0:433e4ec5de88 5
sornpraram 0:433e4ec5de88 6 class RMD: public CAN{
sornpraram 0:433e4ec5de88 7
sornpraram 0:433e4ec5de88 8 public:
sornpraram 0:433e4ec5de88 9 RMD(PinName rx, PinName tx);
sornpraram 0:433e4ec5de88 10
sornpraram 0:433e4ec5de88 11 bool send_speed(int id, int speed);
sornpraram 0:433e4ec5de88 12
sornpraram 0:433e4ec5de88 13 bool send_torque(int id, int torque);
sornpraram 0:433e4ec5de88 14
sornpraram 0:433e4ec5de88 15 bool send_position(int id, int position);
sornpraram 0:433e4ec5de88 16
sornpraram 0:433e4ec5de88 17 void read_pid();
sornpraram 0:433e4ec5de88 18
sornpraram 0:433e4ec5de88 19 void int2byte(int num);
sornpraram 0:433e4ec5de88 20
sornpraram 0:433e4ec5de88 21 void status();
sornpraram 0:433e4ec5de88 22
sornpraram 0:433e4ec5de88 23 status_velocity();
sornpraram 0:433e4ec5de88 24
sornpraram 0:433e4ec5de88 25 char _data[4];
sornpraram 0:433e4ec5de88 26
sornpraram 0:433e4ec5de88 27 char _data_sent[8];
sornpraram 0:433e4ec5de88 28
sornpraram 0:433e4ec5de88 29 char _data_back[8];
sornpraram 0:433e4ec5de88 30
sornpraram 0:433e4ec5de88 31 //void send_speed(int n);
sornpraram 0:433e4ec5de88 32
sornpraram 0:433e4ec5de88 33 //unsigned char read_pid();
sornpraram 0:433e4ec5de88 34
sornpraram 0:433e4ec5de88 35 private:
sornpraram 0:433e4ec5de88 36 unsigned char CANdata[4];
sornpraram 0:433e4ec5de88 37 unsigned char CANsent[8];
sornpraram 0:433e4ec5de88 38 CANMessage msg;
sornpraram 0:433e4ec5de88 39 int freq;
sornpraram 0:433e4ec5de88 40 char id;
sornpraram 0:433e4ec5de88 41 };
sornpraram 0:433e4ec5de88 42
sornpraram 0:433e4ec5de88 43 #endif