Team DIANA / dynamixel

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Dependencies:   AX12_final MX106_not_working comunication_1 mbed-dev

Fork of MX106-finaltest by Team DIANA

Joint.h

Committer:
clynamen
Date:
2016-07-02
Revision:
10:2acfa1a84c96
Child:
11:19e8022f60ea

File content as of revision 10:2acfa1a84c96:

#include "communication_1/communication_1.h"

#ifndef JOINT_H
#define JOINT_H

class Joint
{
    public:
    virtual ~Joint() {};
    virtual void setID(int NewID) = 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 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;
};

#endif