101 lines
2.6 KiB
C++
101 lines
2.6 KiB
C++
/*******************************************************************************
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* Copyright 2016 ROBOTIS CO., LTD.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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/* Predefined RC-100 button key value
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* Please refer to Remote Controller Code Map(http://emanual.robotis.com/docs/en/parts/communication/rc-100/#code-map)
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* and Remote Controller Packet(http://emanual.robotis.com/docs/en/parts/communication/rc-100/#communication-packet)
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*
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#define RC100_BTN_U (1)
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#define RC100_BTN_D (2)
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#define RC100_BTN_L (4)
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#define RC100_BTN_R (8)
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#define RC100_BTN_1 (16)
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#define RC100_BTN_2 (32)
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#define RC100_BTN_3 (64)
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#define RC100_BTN_4 (128)
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#define RC100_BTN_5 (256)
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#define RC100_BTN_6 (512)
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*/
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#include <DynamixelShield.h>
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#ifdef SoftwareSerial_h
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RobotisRemoteController rc100;
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#else
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RobotisRemoteController rc100(Serial1);
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#endif
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void setup() {
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// put your setup code here, to run once:
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Serial.begin(115200);
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// Use UART port of DYNAMIXEL Shield to communicate with ROBOTIS Remote Controller.
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rc100.begin();
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}
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void loop() {
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// put your main code here, to run repeatedly:
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uint16_t rc100_data;
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if (rc100.availableData() > 0)
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{
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rc100_data = rc100.readData();
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switch(rc100_data)
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{
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case RC100_BTN_U:
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Serial.println("RC100 button U");
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break;
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case RC100_BTN_D:
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Serial.println("RC100 button D");
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break;
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case RC100_BTN_L:
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Serial.println("RC100 button L");
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break;
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case RC100_BTN_R:
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Serial.println("RC100 button R");
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break;
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case RC100_BTN_1:
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Serial.println("RC100 button 1");
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break;
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case RC100_BTN_2:
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Serial.println("RC100 button 2");
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break;
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case RC100_BTN_3:
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Serial.println("RC100 button 3");
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break;
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case RC100_BTN_4:
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Serial.println("RC100 button 4");
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break;
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case RC100_BTN_5:
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Serial.println("RC100 button 5");
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break;
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case RC100_BTN_6:
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Serial.println("RC100 button 6");
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break;
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}
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}
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}
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