Dynamixel controller with CAN interface
Dependencies: AX12_final MX106_not_working comunication_1
Diff: Joint.h
- Revision:
- 11:19e8022f60ea
- Parent:
- 10:2acfa1a84c96
diff -r 2acfa1a84c96 -r 19e8022f60ea Joint.h --- a/Joint.h Sat Jul 02 18:06:59 2016 +0000 +++ b/Joint.h Wed Jul 13 15:53:34 2016 +0000 @@ -8,19 +8,18 @@ public: virtual ~Joint() {}; virtual void setID(int NewID) = 0; + virtual int getID() = 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 void setSpeed(float degreesS) = 0; + virtual void setMaxSpeed(float degreeS) = 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;