#include "CRC16.h"
#include <SoftwareSerial.h>

#define GEAR_RATIO 	232			//传动减速比
#define NODE_ID		0x01			//驱动器ID
#define SPD_ADDR	284				//驱动器：速度设置寄存器地址
#define SPD_ST_ADDR	2				//驱动器：当前运转速度状态寄存器地址

void setup() {
  // put your setup code here, to run once:
 Serial.begin(9600);
 MotorControl(0);
 while(Serial.read()>=0){}
}

void loop() {
  // put your main code here, to run repeatedly:
 
	
  
	
	 MotorControl(i*GEAR_RATIO);
	 Serial.println(i,HEX);//TEXT
	 
	}
	
  //delay(10);
	
}
void CMDRx()
{
	int16_t i,rxd,n;
  int16_t d[16];
	if (Serial.available() > 0)   //TEXT
		{	
			delay(100);
			for(i=0;i<16;i++)
	   {
		d[i]= Serial.read();//TEXT
		 }
			
      
		}
 while(Serial.read()>=0){}
}


void MotorControl(int v)
{
	unsigned int d[10];
	unsigned int crc,i;
	d[0]	=	NODE_ID;
	d[1]	=	0x06;
	d[2]	=	SPD_ADDR>>8;
	d[3]	=	SPD_ADDR&0x00FF;
	d[4]	=	(v>>8)&0x00FF;
	d[5]	=	v&0x00FF;
	crc=CRC16(d,6);				//calculate the CRC-16
	d[6]	=	crc&0x00FF;
	d[7]	=	crc>>8;

	for(i=0;i<8;i++)
	{
		Serial.println(d[i],HEX);//TEXT
		
	}
}