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Dynamixel controller with CAN interface
Dependencies: AX12_final MX106_not_working comunication_1
Joint.h@15:c1a790a1e999, 2019-04-16 (annotated)
- Committer:
- stebonicelli
- Date:
- Tue Apr 16 08:58:02 2019 +0000
- Revision:
- 15:c1a790a1e999
- Parent:
- 11:19e8022f60ea
using raw serial
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 | 11:19e8022f60ea | 11 | virtual int getID() = 0; |
clynamen | 10:2acfa1a84c96 | 12 | // TODO: use enum instead of int |
clynamen | 10:2acfa1a84c96 | 13 | virtual void setMode(int mode) = 0; |
clynamen | 10:2acfa1a84c96 | 14 | virtual void setCWLimit(float degrees) = 0; |
clynamen | 10:2acfa1a84c96 | 15 | virtual void setCCWLimit(float degrees) = 0; |
clynamen | 10:2acfa1a84c96 | 16 | virtual void setGoalPosition(float degrees) = 0; |
clynamen | 10:2acfa1a84c96 | 17 | virtual float getPosition() = 0; |
clynamen | 11:19e8022f60ea | 18 | virtual void setSpeed(float degreesS) = 0; |
clynamen | 11:19e8022f60ea | 19 | virtual void setMaxSpeed(float degreeS) = 0; |
clynamen | 10:2acfa1a84c96 | 20 | virtual float getTemp() = 0; |
clynamen | 10:2acfa1a84c96 | 21 | virtual float getVolts() = 0; |
clynamen | 10:2acfa1a84c96 | 22 | virtual float getCurrent () = 0; |
clynamen | 10:2acfa1a84c96 | 23 | virtual void setMaxTorque(float torque) = 0 ; |
clynamen | 10:2acfa1a84c96 | 24 | virtual void setMotorEnabled(bool enabled) = 0; |
clynamen | 10:2acfa1a84c96 | 25 | virtual bool isMoving() = 0; |
clynamen | 10:2acfa1a84c96 | 26 | }; |
clynamen | 10:2acfa1a84c96 | 27 | |
clynamen | 10:2acfa1a84c96 | 28 | #endif |