File content as of revision 7:9a17b688dd59:

/**************************************************/
/* 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
*/
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/**************************************************/
/* 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"

InterruptIn Button(p28);
Serial pc(USBTX,USBRX);
CAN can(p30, p29);
Roboteq Robot_Moteur1(4, &Can);
Roboteq Robot_Moteur2(5, &Can);
int i = 0, j = 1;

void send(void)
{
    pc.printf("1");
    Robot_Moteur1.SetPosition(j * 1000, 1);
    Robot_Moteur2.SetPosition(-j * 1000, 1);
    j = -j;
    
}

int main() {
    Can.frequency(250000);
    pc.baud(115200);
    pc.printf("\n\rdebut prog");
    
    Button.fall(&send);
    
    while(1) {
        
        
    }
}
*/








#ifndef ROBOTEQ_H
#define ROBOTEQ_H

#include "CANopen_Node.h"


namespace mbed {
    
    class Roboteq : public CANopen_Node{
        
        public :
        Roboteq(uint8_t _node_id, CAN * _can);
        void SetParameters(int16_t _velocity, long _accel, long _decel, uint8_t _channel);
        void SetPosition(long _position, uint8_t _channel);
        void SetVelocity(uint16_t _speed, uint8_t _channel);
        void SetEncoderCounter(long _counter, uint8_t _channel);
        void SetBrushlessCounter(long _counter, uint8_t _channel);
        void SetUserIntVariable(long _var, uint8_t _nb_var);
        void SetAcceleration(long _accel, uint8_t _channel);
        void SetDeceleration(long _decel, uint8_t _channel);
        void SetAllDigitalOutBits(uint8_t _out_bits);
        void SetIndividualDigitalOutBits(uint8_t _out_bits);
        void ResetIndividualOutBits(uint8_t _out_bits);
        void LoadHomeCounter(uint8_t _channel);
        void EmergencyShutdown(uint8_t _param);
        void ReleaseShutdown(uint8_t _param);
        void StopInAllModes(uint8_t _channel);
        void SetPosRelative(long _position, uint8_t _channel);
        void SetNextPosAbsolute(long _position, uint8_t _channel);
        void SetNextPosRelative(long _position, uint8_t _channel);
        void SetNextAcceleration(long _accel, uint8_t _channel);
        void SetNextDeceleration(long _decel, uint8_t _channel);
        void SetNextVelocity(uint16_t _speed, uint8_t _channel);
        void SetUserBoolVariable(long _var, uint8_t _nb_var);
        void SaveConfigToFlash(void);
        
        int16_t ReadMotorAmps(uint8_t _channel);
        int16_t ReadActualMotorCommand(uint8_t _channel);
        int16_t ReadAppliedPowerLevel(uint8_t _channel);
        int16_t ReadEncoderMotorSpeed(uint8_t _channel);
        int16_t ReadAbsoluteEncoderCount(uint8_t _channel);
        int16_t ReadAbsoluteBrushlessCounter(uint8_t _channel);
        int16_t ReadUserIntegerVariable(uint8_t _nb_var);
        int16_t ReadEncoderMotorSpeedRelativeToMaxSpeed(uint8_t _channel);
        int16_t ReadEncoderCountRelative(uint8_t _channel);
        int16_t ReadBrushlessCountRelative(uint8_t _channel);
        int16_t ReadBrushlessMotorSpeed(uint8_t _channel);
        int16_t ReadBrushlessMotorSpeedRelativeToMaxSpeed(uint8_t _channel);
        int16_t ReadBatteryAmps(uint8_t _channel);
        uint16_t ReadInternalVoltages(uint8_t _param);
        uint32_t ReadAllDigitalInputs(void);
        int8_t ReadCaseAndInternalTemperatures(uint8_t _param);
        int16_t ReadFeedback(uint8_t _channel);
        uint8_t ReadStatusFlags(void);
        uint8_t ReadFaultFlags(void);
        uint8_t ReadCurrentDigitalOutputs(void);
        int32_t ReadClosedLoopError(uint8_t _channel);
        int32_t ReadUserBooleanVariable(uint8_t _nb_var);
        int32_t ReadInternalSerialCommand(uint8_t _channel);
        int32_t ReadInternalAnalogCommand(uint8_t _channel);
        int32_t ReadInternalPulseCommand(uint8_t _channel);
        uint32_t ReadTime(void);
        uint16_t ReadSpektrumRadioCapture(uint8_t _nb_capture);
        uint8_t ReadDestinationPositionReachedFlag(uint8_t _channel);
        int32_t ReadMEMSAccelerometerAxis(uint8_t _axis);
        uint16_t ReadMagsensorTrackDetect(void);
        uint8_t ReadMagsensorTrackPosition(void);
        uint8_t ReadMagsensorMarkers(void);
        uint8_t ReadMagsensorStatus(void);
        uint8_t ReadMotorStatusFlags(void);
        int32_t ReadIndividualDigitalInputs(uint8_t _input);
        int16_t ReadAnalogInputs(uint8_t _input);
        int16_t ReadAnalogInputsConverted(uint8_t _input);
        int16_t ReadPulseInputs(uint8_t _input);
        int16_t ReadPulseInputsConverted(uint8_t _input);
        
        
        
        
 
        
        
        private :
        
        
        protected :
        
        
        
    };
    
    
}//end namespace


#endif