Diff: MX.h

Revision:

22:5d3f37356915

Parent:

21:fe5dd48bebc6

--- a/MX.h	Tue Nov 05 08:57:38 2019 +0000
+++ b/MX.h	Tue Nov 05 14:26:34 2019 +0000
@@ -42,16 +42,16 @@
 //#define OPERATING_MODE_DEBUG 1
 //#define SETBAUD_DEBUG 1
 
-//#define SYNC_TORQUE_ENABLE_DEBUG 1
-//#define SYNC_SETGOAL_DEBUG 1
+#define SYNC_TORQUE_ENABLE_DEBUG 0
+#define SYNC_SETGOAL_DEBUG 0
 #define SYNC_GET_POSITION_DEBUG 0
-//#define SYNC_SENDPACKET_DEBUG 1
-//#define SYNC_SENDPACKET_DEBUG_PACKETONLY 1
-//#define SYNC_READPACKET_DEBUG_PACKETONLY 0
-//#define SYNC_SET_BAUD_DEBUG 1
-//#define SYNC_GET_CURRENT_DEBUG 0
-//#define SYNC_GOAL_CURRENT_DEBUG 1  
-//#define SYNC_OPERATING_MODE_DEBUG 1
+#define SYNC_SENDPACKET_DEBUG 0
+#define SYNC_SENDPACKET_DEBUG_PACKETONLY 0
+#define SYNC_READPACKET_DEBUG_PACKETONLY 0
+#define SYNC_SET_BAUD_DEBUG 0
+#define SYNC_GET_CURRENT_DEBUG 0
+#define SYNC_GOAL_CURRENT_DEBUG 0  
+#define SYNC_OPERATING_MODE_DEBUG 0
 
   // Protocol 2.0 
 // N.B. all Register values are in HEX, on the on-line manual all are in DEC
@@ -71,6 +71,8 @@
 #define MX_REG_GOAL_CURRENT 0x66
 #define MX_REG_CURRENT_LIMIT 0x26
 #define MX_REG_GOAL_PWM 0x64
+#define MX_REG_PROFILE_ACCELER 0x6C
+#define MX_REG_PROFILE_VELOCITY 0x70
 #define MX_OFF 0
 #define MX_ON 1
 
@@ -214,9 +216,11 @@
     int SyncGoalCurrent(float mAmpere[]);
     int SyncCurrentLimit(float mAmpere, int ID);
     int SyncCurrentLimit(float mAmpere[]);
-    int SyncOperatingMode(int mode[], int ID);
-    int SyncSetBaud(int MotorBaud[], int ID);
-    int SyncGoalPWM(float values[], int ID);
+    int SyncOperatingMode(int mode[], int ID =-1);
+    int SyncSetBaud(int MotorBaud[], int ID =-1 );
+    int SyncGoalPWM(float values[], int ID =-1 );
+    int SyncProfileAccel(float profileValAcc[]);
+    int SyncProfileVel(float profileValueVel[]);
        
 private :