![](/media/cache/group/Diana_su_nero.jpg.50x50_q85.jpg)
To be tested
Dependencies: Servo AX12_final MX106_not_working comunication_1
Diff: Joint.h
- Revision:
- 10:2acfa1a84c96
- Child:
- 11:19e8022f60ea
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Joint.h Sat Jul 02 18:06:59 2016 +0000 @@ -0,0 +1,29 @@ +#include "communication_1/communication_1.h" + +#ifndef JOINT_H +#define JOINT_H + +class Joint +{ + public: + virtual ~Joint() {}; + virtual void setID(int NewID) = 0; + // TODO: use enum instead of int + virtual void setMode(int mode) = 0; + virtual void setCWLimit(float degrees) = 0; + virtual void setCCWLimit(float degrees) = 0; + virtual void setGoalPosition(float degrees) = 0; + virtual float getPosition() = 0; + virtual void setSpeed(float goal_speed) = 0; + virtual float getTemp() = 0; + virtual float getVolts() = 0; + virtual float getCurrent () = 0; + virtual float getPGain () = 0; + virtual float getIGain () = 0; + virtual float getDGain() = 0; + virtual void setMaxTorque(float torque) = 0 ; + virtual void setMotorEnabled(bool enabled) = 0; + virtual bool isMoving() = 0; +}; + +#endif