Diff: cerica2.h

Revision:

11:8fa43cb31f9b

Parent:

3:72c7158376db

Child:

13:91a699eae3ea

--- a/cerica2.h	Fri Oct 12 15:59:14 2018 +0000
+++ b/cerica2.h	Wed Dec 05 02:25:44 2018 +0000
@@ -8,7 +8,35 @@
 {
 private:
     DigitalOut wireSelect;
+    
+    I2C *i2c;
+    char ADDR;
+    bool brake;
+    bool isEnc;
+    bool channel;
+    long map(long x, long in_min, long in_max, long out_min, long out_max);
+    char configData;
+    char Div;
+    int minSpd;
+    int maxSpd;
      
 public:
-    CERICA(WireSel WireSel_);
+    CERICA(I2C *i2c_,WireSel WireSel_);
+    
+    //bool init(char toMD , bool rvs = false , bool omni = true, bool sound  = false , frequency freq = F256, int channel_ = 0);
+    bool motor(bool available_ = 1);
+    void motor(char sendChannel,int verocity);
+    bool RawMotor(char sendChannel,int verocity);
+    bool wait(int waitT);
+    void set(bool isEnc_ = false,bool brake_ = false,int channel_ = 0);
+    bool SystemReset(char sendChannel);
+    bool ConfigReset(char sendChannel);
+    bool DscOn(char sendChannel,bool mode);
+    bool OutputFlip(char sendChannel,bool mode);
+    bool DscPortOpen(char sendChannel,bool mode);
+    bool SoundOn(char sendChannel,bool mode);
+    bool SetDivider(char sendChannel,char pulse);
+    void SetSpeedLimit(int min, int max){ minSpd = min; maxSpd = max; }
+    int powerOut[16];
+    int power[16];
 };
\ No newline at end of file