T Nara / ikarashiMDC_can

ver CAN

ikarashiMDC.cpp@0:314f2bed3958, 2017-08-07 (annotated)

Committer:
WAT34
Date:
Mon Aug 07 22:39:44 2017 +0000
Revision:
0:314f2bed3958
Child:
1:5e8014a1adbd
i hope this works

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 0:314f2bed3958 1 #include "ikarashiMDC.h"
WAT34 0:314f2bed3958 2
WAT34 0:314f2bed3958 3
WAT34 0:314f2bed3958 4 ikarashiMDC::ikarashiMDC()
WAT34 0:314f2bed3958 5 {
WAT34 0:314f2bed3958 6 serial=NULL;
WAT34 0:314f2bed3958 7 addr = 0;
WAT34 0:314f2bed3958 8 motorNum = 0;
WAT34 0:314f2bed3958 9 }
WAT34 0:314f2bed3958 10
WAT34 0:314f2bed3958 11 int ikarashiMDC::setMotorinfo(uint8_t _addr,uint8_t _motorNum,Serial *_serial)
WAT34 0:314f2bed3958 12 {
WAT34 0:314f2bed3958 13 serial = _serial;
WAT34 0:314f2bed3958 14 addr = _addr;
WAT34 0:314f2bed3958 15 motorNum = _motorNum;
WAT34 0:314f2bed3958 16 return 0;
WAT34 0:314f2bed3958 17 }
WAT34 0:314f2bed3958 18
WAT34 0:314f2bed3958 19 int ikarashiMDC::setMotorSpeed(double speed)
WAT34 0:314f2bed3958 20 {
WAT34 0:314f2bed3958 21 uint8_t data[3],dataSpeed;
WAT34 0:314f2bed3958 22 //Limiter
WAT34 0:314f2bed3958 23 if(speed > 1.0) speed = 1.0;
WAT34 0:314f2bed3958 24 if(speed < -1.0) speed = -1.0;
WAT34 0:314f2bed3958 25
WAT34 0:314f2bed3958 26 //dataspeed 0~253 neutaral 126
WAT34 0:314f2bed3958 27 dataSpeed = ((speed+1.0)/2.0)*253;
WAT34 0:314f2bed3958 28 //set sending data
WAT34 0:314f2bed3958 29 data[0] = 255; //header
WAT34 0:314f2bed3958 30 data[1] = addr; //address
WAT34 0:314f2bed3958 31 data[2] = dataSpeed;
WAT34 0:314f2bed3958 32
WAT34 0:314f2bed3958 33 //send data
WAT34 0:314f2bed3958 34 for(int i=0;i<3; i++)
WAT34 0:314f2bed3958 35 {
WAT34 0:314f2bed3958 36 serial->putc(data[i]);
WAT34 0:314f2bed3958 37 }
WAT34 0:314f2bed3958 38 return 0;
WAT34 0:314f2bed3958 39 }