CRAC Team
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Strategie_13h30
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Diff: AX12-V2/AX12-V2.h
- Revision:
- 1:116040d14164
- Parent:
- 0:ad97421fb1fb
- Child:
- 5:dcd817534b57
--- a/AX12-V2/AX12-V2.h Wed Apr 13 22:04:54 2016 +0000
+++ b/AX12-V2/AX12-V2.h Fri Apr 15 10:49:40 2016 +0000
@@ -71,6 +71,7 @@
unsigned short speed;//La vitesse de déplacement du bras
unsigned char isUsingCAN;//Indique si il faut envoyer les information via CAN (0=>non | autre=>oui)
unsigned char needToUpdate;//Indique qu'il faut mettre à jour la position
+ unsigned char needCheckMoving;//Permet d'indiquer que l'on doit verifier si l'AX12 bouge
};
/****************************************************************************************/
@@ -92,6 +93,12 @@
unsigned char AX12_isLocal(unsigned char id);
/****************************************************************************************/
+/* FUNCTION NAME: AX12_notifyCANEnd */
+/* DESCRIPTION : indiquer qu'un mouvement d'AX12 CAN est terminé */
+/****************************************************************************************/
+void AX12_notifyCANEnd(unsigned char id);
+
+/****************************************************************************************/
/* FUNCTION NAME: AX12_getLocalID */
/* DESCRIPTION : Obtenir les info sur un AX12 ou l'initialiser si non présent */
/****************************************************************************************/
@@ -103,7 +110,6 @@
/****************************************************************************************/
void AX12_doLoop(void);
-
/****************************************************************************************/
/* FUNCTION NAME: AX12_processChange */
/* DESCRIPTION : Permet de prendre en compte les changement d'instruction des AX12 */
@@ -112,6 +118,12 @@
void AX12_processChange(void);
/****************************************************************************************/
+/* FUNCTION NAME: AX12_isMoving */
+/* DESCRIPTION : Fonction pour savoir si un AX12 local est entrain de bouger */
+/****************************************************************************************/
+int AX12_isMoving(unsigned char id);
+
+/****************************************************************************************/
/* FUNCTION NAME: AX12_syncWrite */
/* DESCRIPTION : Fonction pour envoyer des trames aux AX12 en mode syncWrite */
/****************************************************************************************/
@@ -123,5 +135,11 @@
/****************************************************************************************/
int AX12_write(int ID, int start, int bytes, char* data, int flag=0);
+/****************************************************************************************/
+/* FUNCTION NAME: AX12_read */
+/* DESCRIPTION : Lire des données dans un registre de l'AX12 */
+/****************************************************************************************/
+int AX12_read(int ID, int start, int bytes, char* data);
+
#endif