Diff: ikarashiMDC.cpp

Revision:

0:314f2bed3958

Child:

1:5e8014a1adbd

diff -r 000000000000 -r 314f2bed3958 ikarashiMDC.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ikarashiMDC.cpp	Mon Aug 07 22:39:44 2017 +0000
@@ -0,0 +1,39 @@
+#include "ikarashiMDC.h"
+
+
+ikarashiMDC::ikarashiMDC()
+{
+    serial=NULL;
+    addr = 0;
+    motorNum = 0;
+}
+
+int ikarashiMDC::setMotorinfo(uint8_t _addr,uint8_t _motorNum,Serial *_serial)
+{
+    serial = _serial;
+    addr = _addr;
+    motorNum = _motorNum;
+    return 0;
+}
+
+int ikarashiMDC::setMotorSpeed(double speed)
+{
+    uint8_t data[3],dataSpeed;
+    //Limiter
+    if(speed > 1.0) speed = 1.0;
+    if(speed < -1.0) speed = -1.0;
+    
+    //dataspeed 0~253 neutaral 126 
+    dataSpeed = ((speed+1.0)/2.0)*253;
+    //set sending data
+    data[0] = 255; //header
+    data[1] = addr; //address
+    data[2] = dataSpeed;
+    
+    //send data
+    for(int i=0;i<3; i++)
+    {
+        serial->putc(data[i]);
+    }
+    return 0;
+ }
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