Diff: MX.h

Revision:

21:fe5dd48bebc6

Parent:

20:029e0fe30b0a

Child:

22:5d3f37356915

--- a/MX.h	Tue Oct 22 16:42:40 2019 +0000
+++ b/MX.h	Tue Nov 05 08:57:38 2019 +0000
@@ -44,12 +44,12 @@
 
 //#define SYNC_TORQUE_ENABLE_DEBUG 1
 //#define SYNC_SETGOAL_DEBUG 1
-#define SYNC_GET_POSITION_DEBUG 1
+#define SYNC_GET_POSITION_DEBUG 0
 //#define SYNC_SENDPACKET_DEBUG 1
 //#define SYNC_SENDPACKET_DEBUG_PACKETONLY 1
-//#define SYNC_READPACKET_DEBUG_PACKETONLY 1
+//#define SYNC_READPACKET_DEBUG_PACKETONLY 0
 //#define SYNC_SET_BAUD_DEBUG 1
-#define SYNC_GET_CURRENT_DEBUG 1
+//#define SYNC_GET_CURRENT_DEBUG 0
 //#define SYNC_GOAL_CURRENT_DEBUG 1  
 //#define SYNC_OPERATING_MODE_DEBUG 1
 
@@ -203,9 +203,9 @@
     int sendPacket(int start, int length, char* data, int flag=0);    
     void Reboot();
     
-    char* SyncReadPacket(int start, int bytes); 
-    float* SyncGetPosition(void);
-    float* SyncGetCurrent(void);
+    void SyncReadPacket(int start, int bytes, char* data); 
+    void SyncGetPosition(float* angle);
+    void SyncGetCurrent(float* current);
     int SyncTorqueEnable(bool enableVal[], int Nmotor =-1);
     int SyncSetGoal(float degrees[]);
     int SyncSetGoal(float degrees, int ID);