Team DIANA / dynamixel

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Dependencies:   AX12_final MX106_not_working comunication_1 mbed-dev

Fork of MX106-finaltest by Team DIANA

Diff: Joint.h

Revision:
11:19e8022f60ea
Parent:
10:2acfa1a84c96
--- a/Joint.h	Sat Jul 02 18:06:59 2016 +0000
+++ b/Joint.h	Wed Jul 13 15:53:34 2016 +0000
@@ -8,19 +8,18 @@
     public:
     virtual ~Joint() {};
     virtual void setID(int NewID) = 0;
+    virtual int getID() = 0;
     // TODO: use enum instead of int
     virtual void setMode(int mode) = 0; 
     virtual void setCWLimit(float degrees) = 0;
     virtual void setCCWLimit(float degrees) = 0;
     virtual void setGoalPosition(float degrees) = 0;
     virtual float getPosition() = 0;
-    virtual void setSpeed(float goal_speed) = 0;
+    virtual void setSpeed(float degreesS) = 0;
+    virtual void setMaxSpeed(float degreeS) = 0;
     virtual float getTemp() = 0;
     virtual float getVolts() = 0;
     virtual float getCurrent () = 0;
-    virtual float getPGain () = 0;
-    virtual float getIGain () = 0;
-    virtual float getDGain() = 0;
     virtual void setMaxTorque(float torque) = 0 ;
     virtual void setMotorEnabled(bool enabled) = 0;
     virtual bool isMoving() = 0;