Team Projet Robot Barman / SDC21XX_Motor

Librairie pour contrôler un moteur connecté à une contrôleur SDC21XX

Dependencies:   CANopen_Node Roboteq_SDC_serie

SDC21XX_Motor.h@0:1c0bc44980e0, 2016-06-01 (annotated)

Committer:
kkoichy
Date:
Wed Jun 01 15:03:34 2016 +0000
Revision:
0:1c0bc44980e0
V1.0; Created class and basic methods to controll a motor connected to a SDC21XX motor driver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kkoichy 0:1c0bc44980e0 1 #ifndef SDC21XX_MOTOR_H
kkoichy 0:1c0bc44980e0 2 #define SDC21XX_MOTOR_H
kkoichy 0:1c0bc44980e0 3
kkoichy 0:1c0bc44980e0 4 #include "mbed.h"
kkoichy 0:1c0bc44980e0 5 #include "Roboteq.h"
kkoichy 0:1c0bc44980e0 6
kkoichy 0:1c0bc44980e0 7 namespace mbed {
kkoichy 0:1c0bc44980e0 8
kkoichy 0:1c0bc44980e0 9 class SDC21XX_Motor {
kkoichy 0:1c0bc44980e0 10
kkoichy 0:1c0bc44980e0 11 public :
kkoichy 0:1c0bc44980e0 12
kkoichy 0:1c0bc44980e0 13 SDC21XX_Motor(uint8_t _node_id, CAN * _can, uint8_t _channel, uint32_t _reductor);
kkoichy 0:1c0bc44980e0 14 void GoAngle(int16_t _angle);
kkoichy 0:1c0bc44980e0 15 int16_t GetAngle();
kkoichy 0:1c0bc44980e0 16 void SetChannel(uint8_t _channel);
kkoichy 0:1c0bc44980e0 17 uint8_t GetChannel(void);
kkoichy 0:1c0bc44980e0 18 void SetReductor(uint32_t _reductor);
kkoichy 0:1c0bc44980e0 19 uint32_t GetReductor(void);
kkoichy 0:1c0bc44980e0 20 void SetNodeID(uint8_t _node_id);
kkoichy 0:1c0bc44980e0 21 uint8_t GetNodeID(void);
kkoichy 0:1c0bc44980e0 22 void SetCan(CAN * _can);
kkoichy 0:1c0bc44980e0 23 CAN* GetCan(void);
kkoichy 0:1c0bc44980e0 24
kkoichy 0:1c0bc44980e0 25 private :
kkoichy 0:1c0bc44980e0 26
kkoichy 0:1c0bc44980e0 27 protected :
kkoichy 0:1c0bc44980e0 28
kkoichy 0:1c0bc44980e0 29 Roboteq RB;
kkoichy 0:1c0bc44980e0 30 uint8_t channel;
kkoichy 0:1c0bc44980e0 31 uint32_t reductor;
kkoichy 0:1c0bc44980e0 32
kkoichy 0:1c0bc44980e0 33
kkoichy 0:1c0bc44980e0 34 };//end class
kkoichy 0:1c0bc44980e0 35
kkoichy 0:1c0bc44980e0 36
kkoichy 0:1c0bc44980e0 37
kkoichy 0:1c0bc44980e0 38
kkoichy 0:1c0bc44980e0 39 }//end namespace
kkoichy 0:1c0bc44980e0 40
kkoichy 0:1c0bc44980e0 41 #endif