Telesensorics / AX-12A

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Dependents:   RobotArmDemo

Fork of AX-12A by robot arm demo team

Diff: AX12.cpp

Revision:
7:155ecc801119
Parent:
6:a702043b1420
Child:
8:b6979be5a0a7
--- a/AX12.cpp	Tue Dec 29 23:31:19 2015 +0000
+++ b/AX12.cpp	Thu Dec 31 17:47:43 2015 +0000
@@ -13,6 +13,7 @@
     _LastTemperature = 0;
     _LastVoltage = 0;
     _LastError = 0;
+    _LastLoad = 0;
 }
 
 /*****/
@@ -156,6 +157,34 @@
     }
 }
 
+/*****/
+
+float AX12::GetLoad(void)
+{
+    _LastError = statusValid;
+    CommBuffer data;
+    StatusCode s = _pbus->Read(_ID, ctPresentLoadL, 2, data); 
+    if( s == statusValid )
+    {
+        int16_t value = data[0] | (data[1] << 8);
+        _LastLoad = (float)(value & 0x03ff);
+        return _LastLoad;
+    }
+    else
+    {
+        // try again one time
+        s = _pbus->Read(_ID, ctPresentLoadL, 2, data); 
+        if( s == statusValid )
+        {
+            int16_t value = data[0] | (data[1] << 8);
+            _LastLoad = (float)(value & 0x03ff);
+            return _LastLoad;
+        }
+        _LastError = s;
+        return 0.0f;
+    }
+}
+
 StatusCode AX12::TorqueEnable(bool enable)
 {
     _LastError = statusValid;
@@ -179,6 +208,9 @@
         case NM_Voltage:
             return true;
             
+        case NM_Load:
+            return true;
+
         default:
             return false;
     }
@@ -197,6 +229,9 @@
         case NM_Voltage:
             return GetSupplyVoltage();
             
+        case NM_Load:
+            return GetLoad();
+            
         default:
             return 0.0f;
     }
@@ -215,6 +250,9 @@
         case NM_Voltage:
             return _LastVoltage;
             
+        case NM_Load:
+            return _LastLoad;
+
         default:
             return 0.0f;
     }