Diff: MX106.h

Revision:

0:8fda718cb527

Child:

1:555b9b4a1ecd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MX106.h	Mon May 23 02:18:19 2016 +0000
@@ -0,0 +1,42 @@
+#ifndef MBED_MX106_H
+#define MBED_MX106_H
+
+#include "mbed.h"
+#include "SerialHalfDuplex.h"
+#include "cominication_1.h"
+
+#define REG_ID 0x3
+#define REG_CW_LIMIT 0x06
+#define REG_CCW_LIMIT 0x08
+#define REG_GOAL_POSITION 0x1E
+#define REG_MOVING_SPEED 0x20
+#define REG_VOLTS 0x2A
+#define REG_TEMP 0x2B
+#define REG_MOVING 0x2E
+#define REG_POSITION 0x24
+
+ class MX106 {
+
+    public:
+    
+        MX106(int ID, comunication_1 line, float gear_train);
+    
+        int SetMode(int mode);  
+        
+        int SetCWLimit(float degrees);
+        
+        int SetCCWLimit(float degrees);
+    
+        int GoalPosition(float degrees);
+
+        int SetSpeed(float goal_speed);
+    
+        float GetTemperature(void);
+            
+    private:
+        
+        float _gear_train;
+        comunication_1 _line;
+        int _ID;
+        int _mode;    
+    };