A lot of change
Dependents: MX106-finaltest dynamixel Arm_dynamixel_can Arm_dynamixel_can_procedurale
MX106.h@0:8fda718cb527, 2016-05-23 (annotated)
- Committer:
- dconsoli
- Date:
- Mon May 23 02:18:19 2016 +0000
- Revision:
- 0:8fda718cb527
- Child:
- 1:555b9b4a1ecd
A lot of change
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" |
dconsoli | 0:8fda718cb527 | 6 | #include "cominication_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 | |
dconsoli | 0:8fda718cb527 | 22 | MX106(int ID, comunication_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); |
dconsoli | 0:8fda718cb527 | 29 | |
dconsoli | 0:8fda718cb527 | 30 | int GoalPosition(float degrees); |
dconsoli | 0:8fda718cb527 | 31 | |
dconsoli | 0:8fda718cb527 | 32 | int SetSpeed(float goal_speed); |
dconsoli | 0:8fda718cb527 | 33 | |
dconsoli | 0:8fda718cb527 | 34 | float GetTemperature(void); |
dconsoli | 0:8fda718cb527 | 35 | |
dconsoli | 0:8fda718cb527 | 36 | private: |
dconsoli | 0:8fda718cb527 | 37 | |
dconsoli | 0:8fda718cb527 | 38 | float _gear_train; |
dconsoli | 0:8fda718cb527 | 39 | comunication_1 _line; |
dconsoli | 0:8fda718cb527 | 40 | int _ID; |
dconsoli | 0:8fda718cb527 | 41 | int _mode; |
dconsoli | 0:8fda718cb527 | 42 | }; |