Ménagerie Technologique / SDC21XX_Motor

Librairie pour contrôler un moteur connecté à un contrôleur SDC21XX

Dependencies:   CANopen_Node Roboteq_SDC_serie

Dependents:   TCP_Server_Example

Fork of SDC21XX_Motor by Pierre David

Diff: SDC21XX_Motor.cpp

Revision:
4:7aaa045734b7
Parent:
2:30acd3c5d5da
diff -r d93b18353995 -r 7aaa045734b7 SDC21XX_Motor.cpp
--- a/SDC21XX_Motor.cpp	Tue Jul 12 09:21:12 2016 +0000
+++ b/SDC21XX_Motor.cpp	Thu Jul 21 13:11:07 2016 +0000
@@ -67,19 +67,31 @@
     {
         RB.SetVelocity(_vel, channel);
     }
+    
     void SDC21XX_Motor::SetAcceleration(long _accel)
     {
         RB.SetAcceleration(_accel, channel);
     }
+    
     void SDC21XX_Motor::SetDeceleration(long _decel)
     {
         RB.SetDeceleration(_decel, channel);
     }
+    
     void SDC21XX_Motor::Setparameters(uint16_t _vel, long _accel, long _decel)
     {
         RB.SetParameters(_vel, _accel, _decel, channel);
     }
 
+    void SDC21XX_Motor::SetRB(Roboteq* _RB)
+    {
+        RB = *_RB;
+    }
+    Roboteq* SDC21XX_Motor::GetRB(void)
+    {
+        return &RB;
+    }
+
 
     
 }//end namespace
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