mbedos senza corrente
Diff: MX.h
- Revision:
- 21:fe5dd48bebc6
- Parent:
- 20:029e0fe30b0a
- Child:
- 22:5d3f37356915
diff -r 029e0fe30b0a -r fe5dd48bebc6 MX.h --- 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);