Joint.h

00001 #include "communication_1/communication_1.h"
00002 
00003 #ifndef JOINT_H
00004 #define JOINT_H
00005 
00006 class Joint
00007 {
00008     public:
00009     virtual ~Joint() {};
00010     virtual void setID(int NewID) = 0;
00011     virtual int getID() = 0;
00012     // TODO: use enum instead of int
00013     virtual void setMode(int mode) = 0; 
00014     virtual void setCWLimit(float degrees) = 0;
00015     virtual void setCCWLimit(float degrees) = 0;
00016     virtual void setGoalPosition(float degrees) = 0;
00017     virtual float getPosition() = 0;
00018     virtual void setSpeed(float degreesS) = 0;
00019     virtual void setMaxSpeed(float degreeS) = 0;
00020     virtual float getTemp() = 0;
00021     virtual float getVolts() = 0;
00022     virtual float getCurrent () = 0;
00023     virtual void setMaxTorque(float torque) = 0 ;
00024     virtual void setMotorEnabled(bool enabled) = 0;
00025     virtual bool isMoving() = 0;
00026 };
00027 
00028 #endif