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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:
- 10:2acfa1a84c96
- Child:
- 11:19e8022f60ea
diff -r 34f4eb572c47 -r 2acfa1a84c96 Joint.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Joint.h Sat Jul 02 18:06:59 2016 +0000
@@ -0,0 +1,29 @@
+#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