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@10:5221a88e2240, 2020-11-04 (annotated)

Committer:
sornpraram
Date:
Wed Nov 04 10:30:13 2020 +0000
Revision:
10:5221a88e2240
Parent:
6:c8149dd9503a
Child:
12:c6ff996ae2e8
position

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 10:5221a88e2240 15 bool send_position(int id, int position, int speed);
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 10:5221a88e2240 21 void int2byte2(int pos, int speed);
sornpraram 10:5221a88e2240 22
sornpraram 0:433e4ec5de88 23 void status();
sornpraram 0:433e4ec5de88 24
sornpraram 3:83fc10ac844c 25 void status_velocity();
sornpraram 5:07e41b6c6692 26
sornpraram 6:c8149dd9503a 27 void status_position();
sornpraram 0:433e4ec5de88 28
sornpraram 0:433e4ec5de88 29 char _data[4];
sornpraram 0:433e4ec5de88 30
sornpraram 0:433e4ec5de88 31 char _data_sent[8];
sornpraram 0:433e4ec5de88 32
sornpraram 0:433e4ec5de88 33 char _data_back[8];
sornpraram 0:433e4ec5de88 34
sornpraram 0:433e4ec5de88 35 //void send_speed(int n);
sornpraram 0:433e4ec5de88 36
sornpraram 0:433e4ec5de88 37 //unsigned char read_pid();
sornpraram 0:433e4ec5de88 38
sornpraram 0:433e4ec5de88 39 private:
sornpraram 0:433e4ec5de88 40 unsigned char CANdata[4];
sornpraram 0:433e4ec5de88 41 unsigned char CANsent[8];
sornpraram 0:433e4ec5de88 42 CANMessage msg;
sornpraram 0:433e4ec5de88 43 int freq;
sornpraram 0:433e4ec5de88 44 char id;
sornpraram 0:433e4ec5de88 45 };
sornpraram 0:433e4ec5de88 46
sornpraram 0:433e4ec5de88 47 #endif