PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

Diff: MX12.h

Revision:
7:68983a9b0531
Parent:
6:177aead4eb6b
Child:
8:e74ef93ae660
diff -r 177aead4eb6b -r 68983a9b0531 MX12.h
--- a/MX12.h	Thu Nov 04 12:32:56 2021 +0000
+++ b/MX12.h	Thu Nov 04 15:11:58 2021 +0000
@@ -83,8 +83,9 @@
  * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
  *
  * @warning 
- *    enum type is not suitable for the errors status because
- *    several errors can be repported simultaneously (B. Denis 11/2021)
+ *    Error field of status packet if decoded by GetStatus(() function which
+ *    returns an enumation type "Status". As several errors can be reported 
+ *    simultaneously the type enum is not suitable (B. Denis 11/2021)
  */
 class MX12 
 {
@@ -93,8 +94,8 @@
         /** Error status occurred during the operation of servomotor.
          *
          * @warning 
-         *    enum type is not suitable for the errors status because
-         *    several errors can be repported simultaneously (B. Denis 11/2021)
+         *    Enumaration type is not suitable for all error status because
+         *    it can denote only one error at a time (B. Denis 11/2021)
          */
         enum Status {
             InstructionError,  /**<  In case of sending an undefined instruction 
@@ -200,8 +201,7 @@
          *  
          * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
          *
-         * Packet sent (1)
-         * ```
+         * Packet sent
          * <PRE>
          * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum|
          * |-------|-------|---------|------|-----------|---------------|--------|
@@ -212,7 +212,6 @@
          *                   mot_id                      address   data
          *                                                        (len = N-1)
          * </PRE>
-         *```
          */
         void rw(unsigned char mot_id, char address, char len, char *data);