PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

Diff: MX12.h

Revision:
30:4e7cf52ac2dd
Parent:
29:0484cbad0770
--- a/MX12.h	Wed Jan 12 15:38:34 2022 +0000
+++ b/MX12.h	Fri Feb 04 09:22:50 2022 +0000
@@ -341,7 +341,12 @@
      *    a result by reading the content of the variable _current_frame 
      *    which can be modified at any time by the private ISR _Rx_interrupt()  
      */
+     
     MX12::Status GetStatus(void);
+    
+    
+    // Allow to read the status packet
+    char ReadSerial();
 
     /* function aivailaible in a previous version of the class 
      */
@@ -358,7 +363,9 @@
     // permet d'enlever le couple dans les moteurs
     
     void cmd_moteur_multiturn(float pos1, float pos2, float pos3);
+    // permet de positionner le moteur pas à pas
     
+    void cmd_moteur_rampe_unitaire(int id_moteur, float w_moteur, int step, float time);
                 
     protected: