RoboBuilder wCK series, Руководство пользователя

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User’s Manual
v1.07
wCK series
SendOperCommand((6<<5)|ServoID, (ROTATE_CCW<<4)|SpeedLevel);
}
else if(RotationDir==ROTATE_CW) {
SendOperCommand((6<<5)|ServoID, (ROTATE_CW<<4)|SpeedLevel);
}
RotNum = GetByte(TIME_OUT1);
GetByte(TIME_OUT1);
return RotNum;
}
/*****************************************************************************/
/* Function that sends Synchronized Position Move Command to wCK module */
/* Input : LastID, SpeedLevel, *TargetArray, Index
*/
/* Return : None */
/****************************************************************************/
void SyncPosSend(char LastID, char SpeedLevel, char *TargetArray, char Index)
{
int i;
char CheckSum;
i = 0;
CheckSum = 0;
SendByte(HEADER);
SendByte((SpeedLevel<<5)|0x1f);
SendByte(1);
while(1) {
if(i>LastID) break;
SendByte(TargetArray[Index*(1)+i]);
CheckSum = CheckSum ^ TargetArray[Index*(1)+i];
i++;
}
CheckSum = CheckSum & 0x7f;
SendByte(CheckSum);
}
/********************************************************************/
/* Function that sends Baud rate Set Command to wCK module
*/
/* Input : ServoID, NewBaud */
/* Return : New Baudrate if succeed, 0xff if fail */
/********************************************************************/
char BaudrateSet(char ServoID, char NewBaud)
{
SendSetCommand((7<<5)|ServoID, 0x08, NewBaud, NewBaud);