PRISMA Lab
mbedos senza corrente
Diff: MX.cpp
- Revision:
- 18:862a4afc1fbe
- Parent:
- 17:6f85605f793d
--- a/MX.cpp Fri Jul 26 12:40:22 2019 +0000
+++ b/MX.cpp Tue Oct 22 10:03:04 2019 +0000
@@ -516,6 +516,19 @@
}
+int MX::SyncGoalPwm(float tension, int ID) {
+ uint8_t byte = 2; //2 is dimension in bytes of instruction
+ float goal = (tension) * 885;
+ char data[byte];
+
+ for (int j = 0 ; j < byte ; j++){
+ data[j] = ((int)goal >> (j*8) ) & 0xff; // top 8 bits
+ }
+
+ int rVal = SyncSendPacket(MX_REG_GOAL_PWM, byte, data, ID);
+ return(rVal);
+}
+
///////////////////////////////////////////////////////////////////////////////
////////////////////////SINGLE OPERATIONS//////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////