![](/media/cache/group/Diana_su_nero.jpg.50x50_q85.jpg)
Dynamixel controller with CAN interface
Dependencies: AX12_final MX106_not_working comunication_1
Joint.h
- Committer:
- clynamen
- Date:
- 2016-07-02
- Revision:
- 10:2acfa1a84c96
- Child:
- 11:19e8022f60ea
File content as of revision 10:2acfa1a84c96:
#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