A lot of change
Dependents: MX106-finaltest dynamixel Arm_dynamixel_can Arm_dynamixel_can_procedurale
Diff: MX106.cpp
- Revision:
- 2:6722a00e6184
- Parent:
- 1:555b9b4a1ecd
- Child:
- 3:adeaefc32a41
--- a/MX106.cpp Sun Jun 26 20:46:08 2016 +0000 +++ b/MX106.cpp Sun Jun 26 21:46:29 2016 +0000 @@ -2,15 +2,14 @@ #include "mbed.h" #include "communication_1.h" //360°/4095 -#define RESOLUTION 0,088 +#define RESOLUTION 0.088 //bit per degrees 4095/360° -#define BIT_DEG 11,375 +#define BIT_DEG 11.375 #define READ_DEBUG 1 -MX106::MX106(int ID, communication_1 line, float gear_train) { +MX106::MX106(int ID, communication_1& line, float gear_train) : _line(line) { _gear_train = gear_train; - _line = line; _ID = ID; } @@ -61,21 +60,21 @@ return(_line.write(_ID, REG_CW_LIMIT, 2, data)); } +int MX106::SetCCWLimit (float degrees) { -int MX106::SetCWLimit(float degrees) { - char data[2]; + //TODO: review this short limit = (short)(BIT_DEG * degrees * _gear_train); + data[0] = limit & 0xff; // bottom 8 bits data[1] = limit >> 8; // top 8 bits // write the packet, return the error code - return(_line.write(_ID, REG_CCW_LIMIT, 2, data)); + return (_line.write(_ID, REG_CCW_LIMIT, 2, data)); } - int MX106::GoalPosition(float degrees) { char data[2]; @@ -96,10 +95,10 @@ // bits 9-0 = Speed char data[2]; - int goal = (0x3ff * abs(speed * _gear_train)); + int goal = (0x3ff * abs(goal_speed * _gear_train)); // Set direction CW if we have a negative speed - if (speed < 0) { + if (goal_speed < 0) { goal |= (0x1 << 10); } @@ -126,7 +125,7 @@ data[1] = goal >> 8; // top 8 bits // write the packet, return the error code - int rVal = write( _ID, 0x20, 2, data); + int rVal = _line.write( _ID, 0x20, 2, data); return(rVal); }