To be tested
Dependencies: Servo AX12_final MX106_not_working comunication_1
Joint.h@10:2acfa1a84c96, 2016-07-02 (annotated)
- Committer:
- clynamen
- Date:
- Sat Jul 02 18:06:59 2016 +0000
- Revision:
- 10:2acfa1a84c96
- Child:
- 11:19e8022f60ea
use MX base class
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
clynamen | 10:2acfa1a84c96 | 1 | #include "communication_1/communication_1.h" |
clynamen | 10:2acfa1a84c96 | 2 | |
clynamen | 10:2acfa1a84c96 | 3 | #ifndef JOINT_H |
clynamen | 10:2acfa1a84c96 | 4 | #define JOINT_H |
clynamen | 10:2acfa1a84c96 | 5 | |
clynamen | 10:2acfa1a84c96 | 6 | class Joint |
clynamen | 10:2acfa1a84c96 | 7 | { |
clynamen | 10:2acfa1a84c96 | 8 | public: |
clynamen | 10:2acfa1a84c96 | 9 | virtual ~Joint() {}; |
clynamen | 10:2acfa1a84c96 | 10 | virtual void setID(int NewID) = 0; |
clynamen | 10:2acfa1a84c96 | 11 | // TODO: use enum instead of int |
clynamen | 10:2acfa1a84c96 | 12 | virtual void setMode(int mode) = 0; |
clynamen | 10:2acfa1a84c96 | 13 | virtual void setCWLimit(float degrees) = 0; |
clynamen | 10:2acfa1a84c96 | 14 | virtual void setCCWLimit(float degrees) = 0; |
clynamen | 10:2acfa1a84c96 | 15 | virtual void setGoalPosition(float degrees) = 0; |
clynamen | 10:2acfa1a84c96 | 16 | virtual float getPosition() = 0; |
clynamen | 10:2acfa1a84c96 | 17 | virtual void setSpeed(float goal_speed) = 0; |
clynamen | 10:2acfa1a84c96 | 18 | virtual float getTemp() = 0; |
clynamen | 10:2acfa1a84c96 | 19 | virtual float getVolts() = 0; |
clynamen | 10:2acfa1a84c96 | 20 | virtual float getCurrent () = 0; |
clynamen | 10:2acfa1a84c96 | 21 | virtual float getPGain () = 0; |
clynamen | 10:2acfa1a84c96 | 22 | virtual float getIGain () = 0; |
clynamen | 10:2acfa1a84c96 | 23 | virtual float getDGain() = 0; |
clynamen | 10:2acfa1a84c96 | 24 | virtual void setMaxTorque(float torque) = 0 ; |
clynamen | 10:2acfa1a84c96 | 25 | virtual void setMotorEnabled(bool enabled) = 0; |
clynamen | 10:2acfa1a84c96 | 26 | virtual bool isMoving() = 0; |
clynamen | 10:2acfa1a84c96 | 27 | }; |
clynamen | 10:2acfa1a84c96 | 28 | |
clynamen | 10:2acfa1a84c96 | 29 | #endif |