A lot of change
Dependents: MX106-finaltest dynamixel Arm_dynamixel_can Arm_dynamixel_can_procedurale
MX106.h@2:6722a00e6184, 2016-06-26 (annotated)
- Committer:
- clynamen
- Date:
- Sun Jun 26 21:46:29 2016 +0000
- Revision:
- 2:6722a00e6184
- Parent:
- 1:555b9b4a1ecd
- Child:
- 3:adeaefc32a41
fixed errors;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dconsoli | 0:8fda718cb527 | 1 | #ifndef MBED_MX106_H |
dconsoli | 0:8fda718cb527 | 2 | #define MBED_MX106_H |
dconsoli | 0:8fda718cb527 | 3 | |
dconsoli | 0:8fda718cb527 | 4 | #include "mbed.h" |
dconsoli | 0:8fda718cb527 | 5 | #include "SerialHalfDuplex.h" |
mattiasub | 1:555b9b4a1ecd | 6 | #include "communication_1.h" |
dconsoli | 0:8fda718cb527 | 7 | |
dconsoli | 0:8fda718cb527 | 8 | #define REG_ID 0x3 |
dconsoli | 0:8fda718cb527 | 9 | #define REG_CW_LIMIT 0x06 |
dconsoli | 0:8fda718cb527 | 10 | #define REG_CCW_LIMIT 0x08 |
dconsoli | 0:8fda718cb527 | 11 | #define REG_GOAL_POSITION 0x1E |
dconsoli | 0:8fda718cb527 | 12 | #define REG_MOVING_SPEED 0x20 |
dconsoli | 0:8fda718cb527 | 13 | #define REG_VOLTS 0x2A |
dconsoli | 0:8fda718cb527 | 14 | #define REG_TEMP 0x2B |
dconsoli | 0:8fda718cb527 | 15 | #define REG_MOVING 0x2E |
dconsoli | 0:8fda718cb527 | 16 | #define REG_POSITION 0x24 |
dconsoli | 0:8fda718cb527 | 17 | |
dconsoli | 0:8fda718cb527 | 18 | class MX106 { |
dconsoli | 0:8fda718cb527 | 19 | |
dconsoli | 0:8fda718cb527 | 20 | public: |
dconsoli | 0:8fda718cb527 | 21 | |
clynamen | 2:6722a00e6184 | 22 | MX106(int ID, communication_1& _line, float gear_train); |
dconsoli | 0:8fda718cb527 | 23 | |
dconsoli | 0:8fda718cb527 | 24 | int SetMode(int mode); |
dconsoli | 0:8fda718cb527 | 25 | |
dconsoli | 0:8fda718cb527 | 26 | int SetCWLimit(float degrees); |
dconsoli | 0:8fda718cb527 | 27 | |
dconsoli | 0:8fda718cb527 | 28 | int SetCCWLimit(float degrees); |
clynamen | 2:6722a00e6184 | 29 | |
clynamen | 2:6722a00e6184 | 30 | int SetCRSpeed(float speed); |
clynamen | 2:6722a00e6184 | 31 | |
dconsoli | 0:8fda718cb527 | 32 | |
dconsoli | 0:8fda718cb527 | 33 | int GoalPosition(float degrees); |
clynamen | 2:6722a00e6184 | 34 | |
clynamen | 2:6722a00e6184 | 35 | float GetTemp(void); |
dconsoli | 0:8fda718cb527 | 36 | int SetSpeed(float goal_speed); |
dconsoli | 0:8fda718cb527 | 37 | |
dconsoli | 0:8fda718cb527 | 38 | float GetTemperature(void); |
dconsoli | 0:8fda718cb527 | 39 | |
dconsoli | 0:8fda718cb527 | 40 | private: |
dconsoli | 0:8fda718cb527 | 41 | |
dconsoli | 0:8fda718cb527 | 42 | float _gear_train; |
clynamen | 2:6722a00e6184 | 43 | communication_1& _line; |
dconsoli | 0:8fda718cb527 | 44 | int _ID; |
dconsoli | 0:8fda718cb527 | 45 | int _mode; |
dconsoli | 0:8fda718cb527 | 46 | }; |
mattiasub | 1:555b9b4a1ecd | 47 | #endif |