yuto kawamura
/
George_Slave_BOTHMOVE
right and left move at the same time
KondoServoLibrary/KondoServo.h@13:678870d8f851, 2019-05-15 (annotated)
- Committer:
- yuto17320508
- Date:
- Wed May 15 10:19:13 2019 +0000
- Revision:
- 13:678870d8f851
- Parent:
- 0:411ab20ce87d
l
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
eri | 0:411ab20ce87d | 1 | #ifndef __KONDO_SERVO_H__ |
eri | 0:411ab20ce87d | 2 | #define __KONDO_SERVO_H__ |
eri | 0:411ab20ce87d | 3 | |
eri | 0:411ab20ce87d | 4 | #include "mbed.h" |
eri | 0:411ab20ce87d | 5 | #include "SerialHalfDuplex.h" |
eri | 0:411ab20ce87d | 6 | |
eri | 0:411ab20ce87d | 7 | typedef enum ServoMode{single = 0,multi = 1}s_mode; |
eri | 0:411ab20ce87d | 8 | typedef unsigned char u8; |
eri | 0:411ab20ce87d | 9 | |
eri | 0:411ab20ce87d | 10 | class KondoServo{ |
eri | 0:411ab20ce87d | 11 | protected: |
eri | 0:411ab20ce87d | 12 | unsigned int baudrate; |
eri | 0:411ab20ce87d | 13 | s_mode mode; |
eri | 0:411ab20ce87d | 14 | //SerialHalfDuplex master; |
eri | 0:411ab20ce87d | 15 | |
eri | 0:411ab20ce87d | 16 | public: |
eri | 0:411ab20ce87d | 17 | SerialHalfDuplex master; |
eri | 0:411ab20ce87d | 18 | void init(int baud); |
eri | 0:411ab20ce87d | 19 | void init(); |
eri | 0:411ab20ce87d | 20 | |
eri | 0:411ab20ce87d | 21 | void setSpeed(int id, u8 speed); |
eri | 0:411ab20ce87d | 22 | float readSpeed(int id); |
eri | 0:411ab20ce87d | 23 | void set_degree(int id,float degree); |
eri | 0:411ab20ce87d | 24 | void setID(u8 id); |
eri | 0:411ab20ce87d | 25 | u8 readID(); |
eri | 0:411ab20ce87d | 26 | ~KondoServo(); |
eri | 0:411ab20ce87d | 27 | KondoServo(PinName txPin,PinName rxPin, int quantity=2, unsigned int baud=115200); |
eri | 0:411ab20ce87d | 28 | |
eri | 0:411ab20ce87d | 29 | }; |
eri | 0:411ab20ce87d | 30 | #endif |