PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

Diff: MX12.cpp

Revision:
24:2ab26ed08c83
Parent:
22:8fa806e3ece4
Child:
26:4632a02a8ef1
--- a/MX12.cpp	Sun Nov 07 11:35:16 2021 +0000
+++ b/MX12.cpp	Sat Nov 13 10:12:09 2021 +0100
@@ -62,6 +62,22 @@
     rw(mot_id, CONTROL_TABLE_MOVING_SPEED, 2, data);
 }
 
+void MX12::SetSpeed_rad_s(unsigned char mot_id, float speed)
+{
+    if (speed > MX12_ABSOLUTE_MAX_SPEED_RAD_S) 
+    {
+        SetSpeed(mot_id, 1);
+    } 
+    else if (speed < -MX12_ABSOLUTE_MAX_SPEED_RAD_S) 
+    {
+        SetSpeed(mot_id, -1);
+    }
+    else 
+    {
+        SetSpeed(mot_id, speed / MX12_ABSOLUTE_MAX_SPEED_RAD_S);
+    }
+}
+
 char MX12::IsAvailable(void) {
     return (_bus_state == SerialState::Idle);
 }