Revision 7:9a17b688dd59, committed 2016-07-11

Comitter:

kkoichy

Date:

Mon Jul 11 10:33:59 2016 +0000

Parent:

6:bd10b47f59d2

Commit message:

Added comments

Changed in this revision

--- a/Roboteq.h	Thu Jun 16 12:30:29 2016 +0000
+++ b/Roboteq.h	Mon Jul 11 10:33:59 2016 +0000
@@ -1,14 +1,27 @@
-/* Example programm for Nucleo F446RE :
+
+/**************************************************/
+/* Roboteq class : inherits from CANopen_node
+        - Contains :    node-id, identifier of the node to communicate with, range from 1 to 127
+                        can, pointer to the CAN instance used to communicate with the node
+
+        - Methods :     2 constructors, 1 of them setting the frequency of the CAN bus
+                        Getters and setters for every variable
+                        Send SDO up- and download, to send and receive basic messages over CANopen protocol
+                        Every commands detailled in the SDC21XX serie documentation under the title Object Dictionnary
+                        A SetParameters method, allowing to set acceleration, deceleration and velocity for one of the two channels of the motor controller
+*/
+/**************************************************/
+
+/**************************************************/
+/* Example programm
     Two motors are connected to 2 SDC21XX controllers, both on channel 1.
     When pressing the user button, 2 CANopen frames are sent, setting the motors to go to the position referred to as +/- 1000
-    ************************************************************
 #include "mbed.h"
 #include "Roboteq.h"
-#include "CAN.h"
 
-InterruptIn Button(PC_13);
+InterruptIn Button(p28);
 Serial pc(USBTX,USBRX);
-CAN Can(PA_11, PA_12);
+CAN can(p30, p29);
 Roboteq Robot_Moteur1(4, &Can);
 Roboteq Robot_Moteur2(5, &Can);
 int i = 0, j = 1;
@@ -28,8 +41,6 @@
     pc.printf("\n\rdebut prog");
     
     Button.fall(&send);
-     
-    
     
     while(1) {