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

Files at this revision

API Documentation at this revision

Revision 4:7aaa045734b7, committed 2016-07-21

Comitter:
kkoichy
Date:
Thu Jul 21 13:11:07 2016 +0000
Parent:
3:d93b18353995
Commit message:
Commit

Changed in this revision

SDC21XX_Motor.cpp Show annotated file Show diff for this revision Revisions of this file
SDC21XX_Motor.h Show annotated file Show diff for this revision Revisions of this file 
--- 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
\ No newline at end of file

--- a/SDC21XX_Motor.h	Tue Jul 12 09:21:12 2016 +0000
+++ b/SDC21XX_Motor.h	Thu Jul 21 13:11:07 2016 +0000
@@ -73,6 +73,9 @@
         void SetAcceleration(long _accel);
         void SetDeceleration(long _decel);
         void Setparameters(uint16_t _vel, long _accel, long _decel);
+        void SetRB (Roboteq* _RB);
+        Roboteq* GetRB(void);
+
         
         private :