Telesensorics / AX-12A

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Dependents:   RobotArmDemo

Fork of AX-12A by robot arm demo team

AX12.cpp

Committer:
jepickett
Date:
2015-12-10
Revision:
0:1a48094c99d1
Child:
1:d7642b2e155d

File content as of revision 0:1a48094c99d1:

/* mbed AX-12+ Servo Library - External hardware version */

#include "AX12.h"
#include "mbed.h"

AX12::AX12( DynamixelBus* pbus, ServoId ID)
{
    _pbus = pbus;
    _ID = ID;
}

/*****/

StatusCode AX12::Ping()
{
    return _pbus->Ping(_ID);
}

/*****/

StatusCode AX12::SetGoal(float degrees)
{
    short goal = (short)((1023.0f * degrees) / 300.0f);

    CommBuffer data;
    data.push_back( goal & 0xff );
    data.push_back( goal >> 8 );

    // write the packet, return the error code
    int offset = GoalPositionL;
    return _pbus->Write(_ID, offset, data); 
}

/*****/

bool IsMoving(void)
{
    return false;
}

/*****/

float GetPosition()
{
    return 0;
}

/*****/

float GetTemperature(void)
{
    return 0;
}

/*****/

float GetSupplyVoltage(void)
{
    return 0;
}