yuki honma / UnderBody

下半身制御用ライブラリ Odometry...自己位置推定 Mecanum...メカナムホイール用 Bezier...ベジエ曲線 RoboClaw...MD用

Dependents:   TOUTEKI_all_mbed mbed_test_program

RoboClaw.h@3:9c3f2662974e, 2018-09-04 (annotated)

Committer:
yuki17100
Date:
Tue Sep 04 14:22:13 2018 +0000
Revision:
3:9c3f2662974e
Parent:
0:62707e16531a 
Mecanum????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuki17100 0:62707e16531a 1 #ifndef ROBOCLAW_H
yuki17100 0:62707e16531a 2 #define ROBOCLAW_H
yuki17100 0:62707e16531a 3 #include "mbed.h"
yuki17100 0:62707e16531a 4 #include "registers.h"
yuki17100 0:62707e16531a 5
yuki17100 0:62707e16531a 6 /*
yuki17100 0:62707e16531a 7 * 一般公開されているライブラリのマイナーチェンジである
yuki17100 0:62707e16531a 8 * Serial -> RawSerial
yuki17100 0:62707e16531a 9 * 指令時にアドレスを指定できるものを利用した
yuki17100 0:62707e16531a 10 *
yuki17100 0:62707e16531a 11 */
yuki17100 0:62707e16531a 12
yuki17100 0:62707e16531a 13 /** The RoboClaw class, yo ucan use the library with : http://www.ionmc.com/RoboClaw-2x15A-Motor-Controller_p_10.html
yuki17100 0:62707e16531a 14 * Used to control one or two motors with (or not) encoders
yuki17100 0:62707e16531a 15 * @code
yuki17100 0:62707e16531a 16 * #include "mbed.h"
yuki17100 0:62707e16531a 17 * #include "RoboClaw.h"
yuki17100 0:62707e16531a 18 *
yuki17100 0:62707e16531a 19 * RoboClaw roboclaw(115200, PA_11, PA_12);
yuki17100 0:62707e16531a 20 *
yuki17100 0:62707e16531a 21 * int main() {
yuki17100 0:62707e16531a 22 * roboclaw.ForwardM1(ADR, 127);
yuki17100 0:62707e16531a 23 * while(1);
yuki17100 0:62707e16531a 24 * }
yuki17100 0:62707e16531a 25 * @endcode
yuki17100 0:62707e16531a 26 */
yuki17100 0:62707e16531a 27
yuki17100 0:62707e16531a 28 class RoboClaw
yuki17100 0:62707e16531a 29 {
yuki17100 0:62707e16531a 30 public:
yuki17100 0:62707e16531a 31 /** Create RoboClaw instance
yuki17100 0:62707e16531a 32 */
yuki17100 0:62707e16531a 33 RoboClaw(int baudrate, PinName rx, PinName tx);
yuki17100 0:62707e16531a 34
yuki17100 0:62707e16531a 35 /** Forward and Backward functions
yuki17100 0:62707e16531a 36 * @param address address of the device
yuki17100 0:62707e16531a 37 * @param speed speed of the motor (between 0 and 127)
yuki17100 0:62707e16531a 38 * @note Forward and Backward functions
yuki17100 0:62707e16531a 39 */
yuki17100 0:62707e16531a 40 void ForwardM1(uint8_t address, int speed);
yuki17100 0:62707e16531a 41 void BackwardM1(uint8_t address, int speed);
yuki17100 0:62707e16531a 42 void ForwardM2(uint8_t address, int speed);
yuki17100 0:62707e16531a 43 void BackwardM2(uint8_t address, int speed);
yuki17100 0:62707e16531a 44
yuki17100 0:62707e16531a 45 /** Forward and Backward functions
yuki17100 0:62707e16531a 46 * @param address address of the device
yuki17100 0:62707e16531a 47 * @param speed speed of the motor (between 0 and 127)
yuki17100 0:62707e16531a 48 * @note Forward and Backward functions, it turns the two motors
yuki17100 0:62707e16531a 49 */
yuki17100 0:62707e16531a 50 void Forward(uint8_t address, int speed);
yuki17100 0:62707e16531a 51 void Backward(uint8_t address, int speed);
yuki17100 0:62707e16531a 52
yuki17100 0:62707e16531a 53 /** Read the Firmware
yuki17100 0:62707e16531a 54 * @param address address of the device
yuki17100 0:62707e16531a 55 */
yuki17100 0:62707e16531a 56 void ReadFirm(uint8_t address);
yuki17100 0:62707e16531a 57
yuki17100 0:62707e16531a 58 /** Read encoder and speed of M1 or M2
yuki17100 0:62707e16531a 59 * @param address address of the device
yuki17100 0:62707e16531a 60 * @note Read encoder in ticks
yuki17100 0:62707e16531a 61 * @note Read speed in ticks per second
yuki17100 0:62707e16531a 62 */
yuki17100 0:62707e16531a 63 int32_t ReadEncM1(uint8_t address);
yuki17100 0:62707e16531a 64 int32_t ReadEncM2(uint8_t address);
yuki17100 0:62707e16531a 65 int32_t ReadSpeedM1(uint8_t address);
yuki17100 0:62707e16531a 66 int32_t ReadSpeedM2(uint8_t address);
yuki17100 0:62707e16531a 67
yuki17100 0:62707e16531a 68 /** Set both encoders to zero
yuki17100 0:62707e16531a 69 * @param address address of the device
yuki17100 0:62707e16531a 70 */
yuki17100 0:62707e16531a 71 void ResetEnc(uint8_t address);
yuki17100 0:62707e16531a 72
yuki17100 0:62707e16531a 73 /** Set speed of Motor with different parameter (only in ticks)
yuki17100 0:62707e16531a 74 * @param address address of the device
yuki17100 0:62707e16531a 75 * @note Set the Speed
yuki17100 0:62707e16531a 76 * @note Set the Speed and Accel
yuki17100 0:62707e16531a 77 * @note Set the Speed and Distance
yuki17100 0:62707e16531a 78 * @note Set the Speed, Accel and Distance
yuki17100 0:62707e16531a 79 * @note Set the Speed, Accel, Decceleration and Position
yuki17100 0:62707e16531a 80 */
yuki17100 0:62707e16531a 81 void SpeedM1(uint8_t address, int32_t speed);
yuki17100 0:62707e16531a 82 void SpeedM2(uint8_t address, int32_t speed);
yuki17100 0:62707e16531a 83 void SpeedAccelM1(uint8_t address, int32_t accel, int32_t speed);
yuki17100 0:62707e16531a 84 void SpeedAccelM2(uint8_t address, int32_t accel, int32_t speed);
yuki17100 0:62707e16531a 85 void SpeedAccelM1M2(uint8_t address, int32_t accel1, int32_t speed1, int32_t accel2, int32_t speed2);
yuki17100 0:62707e16531a 86 void SpeedDistanceM1(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer);
yuki17100 0:62707e16531a 87 void SpeedDistanceM2(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer);
yuki17100 0:62707e16531a 88 void SpeedAccelDistanceM1(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
yuki17100 0:62707e16531a 89 void SpeedAccelDistanceM2(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
yuki17100 0:62707e16531a 90 void SpeedAccelDeccelPositionM1(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
yuki17100 0:62707e16531a 91 void SpeedAccelDeccelPositionM2(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
yuki17100 0:62707e16531a 92 void SpeedAccelDeccelPositionM1M2(uint8_t address,uint32_t accel1,uint32_t speed1,uint32_t deccel1, int32_t position1,uint32_t accel2,uint32_t speed2,uint32_t deccel2, int32_t position2,uint8_t flag);
yuki17100 0:62707e16531a 93
yuki17100 0:62707e16531a 94 private:
yuki17100 0:62707e16531a 95 RawSerial _roboclaw;
yuki17100 0:62707e16531a 96 uint16_t crc;
yuki17100 0:62707e16531a 97 void crc_clear();
yuki17100 0:62707e16531a 98 void crc_update(uint8_t data);
yuki17100 0:62707e16531a 99 uint16_t crc_get();
yuki17100 0:62707e16531a 100
yuki17100 0:62707e16531a 101 void write_n(uint8_t cnt, ...);
yuki17100 0:62707e16531a 102 void write_(uint8_t address, uint8_t command, uint8_t data, bool reading, bool crcon);
yuki17100 0:62707e16531a 103
yuki17100 0:62707e16531a 104 uint16_t crc16(uint8_t *packet, int nBytes);
yuki17100 0:62707e16531a 105 uint8_t read_(void);
yuki17100 0:62707e16531a 106 };
yuki17100 0:62707e16531a 107
yuki17100 0:62707e16531a 108 #endif