Diff: RoboClaw.h

Revision:

0:62707e16531a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RoboClaw.h	Sat Sep 01 09:07:35 2018 +0000
@@ -0,0 +1,108 @@
+#ifndef ROBOCLAW_H
+#define ROBOCLAW_H
+#include "mbed.h"
+#include "registers.h"
+
+/*
+* 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
+* Serial -> RawSerial
+* 指令時にアドレスを指定できるものを利用した
+* 
+*/
+
+/** The RoboClaw class, yo ucan use the library with : http://www.ionmc.com/RoboClaw-2x15A-Motor-Controller_p_10.html
+*   Used to control one or two motors with (or not) encoders
+*  @code
+* #include "mbed.h"
+* #include "RoboClaw.h"
+*
+* RoboClaw roboclaw(115200, PA_11, PA_12);
+* 
+* int main() {
+*     roboclaw.ForwardM1(ADR, 127);
+*     while(1);
+* }
+* @endcode
+*/
+
+class RoboClaw
+{
+public:
+    /** Create RoboClaw instance
+    */
+    RoboClaw(int baudrate, PinName rx, PinName tx);
+    
+    /** Forward and Backward functions
+    * @param address address of the device
+    * @param speed speed of the motor (between 0 and 127)
+    * @note Forward and Backward functions
+    */
+    void ForwardM1(uint8_t address, int speed);
+    void BackwardM1(uint8_t address, int speed);
+    void ForwardM2(uint8_t address, int speed);
+    void BackwardM2(uint8_t address, int speed);
+    
+    /** Forward and Backward functions
+    * @param address address of the device
+    * @param speed speed of the motor (between 0 and 127)
+    * @note Forward and Backward functions, it turns the two motors
+    */
+    void Forward(uint8_t address, int speed);
+    void Backward(uint8_t address, int speed);
+    
+    /** Read the Firmware
+    * @param address address of the device
+    */
+    void ReadFirm(uint8_t address);
+    
+    /** Read encoder and speed of M1 or M2
+    * @param address address of the device
+    * @note Read encoder in ticks
+    * @note Read speed in ticks per second
+    */
+    int32_t ReadEncM1(uint8_t address);
+    int32_t ReadEncM2(uint8_t address);
+    int32_t ReadSpeedM1(uint8_t address);
+    int32_t ReadSpeedM2(uint8_t address);
+    
+    /** Set both encoders to zero
+    * @param address address of the device
+    */
+    void ResetEnc(uint8_t address);
+    
+    /** Set speed of Motor with different parameter (only in ticks)
+    * @param address address of the device
+    * @note Set the Speed
+    * @note Set the Speed and Accel
+    * @note Set the Speed and Distance
+    * @note Set the Speed, Accel and Distance
+    * @note Set the Speed, Accel, Decceleration and Position
+    */
+    void SpeedM1(uint8_t address, int32_t speed);
+    void SpeedM2(uint8_t address, int32_t speed);
+    void SpeedAccelM1(uint8_t address, int32_t accel, int32_t speed);
+    void SpeedAccelM2(uint8_t address, int32_t accel, int32_t speed);
+    void SpeedAccelM1M2(uint8_t address, int32_t accel1, int32_t speed1, int32_t accel2, int32_t speed2);
+    void SpeedDistanceM1(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedDistanceM2(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDistanceM1(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDistanceM2(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDeccelPositionM1(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
+    void SpeedAccelDeccelPositionM2(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
+    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);
+    
+private:
+    RawSerial _roboclaw;
+    uint16_t crc;
+    void crc_clear();
+    void crc_update(uint8_t data);
+    uint16_t crc_get();
+    
+    void write_n(uint8_t cnt, ...);
+    void write_(uint8_t address, uint8_t command, uint8_t data, bool reading, bool crcon);
+    
+    uint16_t crc16(uint8_t *packet, int nBytes);
+    uint8_t read_(void);
+};
+
+#endif
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