Abe Takumi / RS405cb

双葉コマンドサーボRS405cb制御用プログラム

Dependents:   EM_Mission ToyBox ohta FriedRice

Files at this revision

API Documentation at this revision

Revision 1:4f4b999b4939, committed 2013-07-13

Comitter:
YSB
Date:
Sat Jul 13 17:06:43 2013 +0000
Parent:
0:03b3a91ccd08
Commit message:
Firsr Commit

Changed in this revision

RS405cb.cpp Show annotated file Show diff for this revision Revisions of this file
RS405cb.h Show annotated file Show diff for this revision Revisions of this file 
--- a/RS405cb.cpp	Fri Apr 12 10:32:21 2013 +0000
+++ b/RS405cb.cpp	Sat Jul 13 17:06:43 2013 +0000
@@ -6,10 +6,10 @@
 }
 
 void RS405cb::Sho_Init(int center_vert,int center_hori,int pls15_vert,int pls15_hori,int mns15_vert,int mns15_hori){
-    TORQUE_ON(1);
+    //TORQUE_ON(1);
     TORQUE_ON(2);
     TORQUE_ON(3);
-    TORQUE_ON(4);
+    //TORQUE_ON(4);
     
     center_v = center_vert;
     center_h = center_hori;
@@ -105,6 +105,18 @@
     RSW2(id,0x00,0x1E,0x02,0x01,ld,hd);
 }
 
+void RS405cb::Rotate_Servo_Float_Test(unsigned char id){
+    while(1){
+        TORQUE_ON(id);
+        Rotate_Servo_Float(id,0.0);
+        wait(1.0);
+        Rotate_Servo_Float(id,50.0);
+        wait(1.0);
+        Rotate_Servo_Float(id,-20.0);
+        wait(1.0);
+    }
+}
+
 void RS405cb::Sho_Rotate_Servo(unsigned char id,int VH,float angle_of_attack){
     int center,pls15,mns15;
     if(VH == VERTICAL){
@@ -128,9 +140,13 @@
 
 void RS405cb::ID_CHANGE(unsigned char oldid,unsigned char newid){
   RSW1(oldid,0x00,0x04,0x01,0x01,newid);
+  wait(0.5);
   RSW0(newid,0x40,0xFF,0x00,0x00);
-  wait(2.0);
+  wait(3.0);
   RSW0(newid,0x20,0xFF,0x00,0x00);
+  while(1){
+    Rotate_Servo_Float_Test(newid);
+  }
 }
 
 void RS405cb::DECIDE_LIMIT_ANGLE(unsigned char id,unsigned int CWlimit,unsigned int CCWlimit){

--- a/RS405cb.h	Fri Apr 12 10:32:21 2013 +0000
+++ b/RS405cb.h	Sat Jul 13 17:06:43 2013 +0000
@@ -21,7 +21,8 @@
             void REQUIRE_RETURN_PACKET(unsigned char id);
         /////function for control
             void Rotate_Servo(unsigned char id,char RL,unsigned int ANGLE);//ANGLE:0-900 means 0.0 degree to 90.0 degree
-            void Rotate_Servo_Float(unsigned char id,float ANGLE);//ANGLE:-90.0-90.0
+            void Rotate_Servo_Float(unsigned char id,float ANGLE);//ANGLE:-90.0 to -90.0
+            void Rotate_Servo_Float_Test(unsigned char id);//Ones this function called,main sequence is put in "while(1)"
     
     //function for 2013 meister's airframe "SHO"  
         void Sho_Init(int center_vert,int center_hori,int pls15_vert,int pls15_hori,int mns15_vert,int mns15_hori);