Telesensorics
/
AX-12A
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Fork of
AX-12A
by 
robot arm demo team
Revision 4:f2da3b1d9988, committed 2015-12-17
- Comitter:
- jepickett
- Date:
- Thu Dec 17 00:09:38 2015 +0000
- Parent:
- 1:d7642b2e155d
- Child:
- 5:bae6dc62dfb4
- Commit message:
- added SetId
Changed in this revision
| AX12.cpp | Show annotated file Show diff for this revision Revisions of this file |
| AX12.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/AX12.cpp Tue Dec 15 04:37:54 2015 +0000
+++ b/AX12.cpp Thu Dec 17 00:09:38 2015 +0000
@@ -18,6 +18,21 @@
/*****/
+StatusCode AX12::SetServoId(char newId)
+{
+ int offset = ctID;
+ CommBuffer data;
+ data.push_back( newId );
+ StatusCode s = _pbus->Write(_ID, offset, data);
+ if( s == statusValid )
+ {
+ _ID = newId;
+ }
+ return s;
+}
+
+/*****/
+
StatusCode AX12::SetGoal(float degrees)
{
short goal = (short)((1024.0f * degrees) / 300.0f);
@@ -105,3 +120,4 @@
int offset = ctTorqueEnable;
return _pbus->Write(_ID, offset, data);
}
+
--- a/AX12.h Tue Dec 15 04:37:54 2015 +0000
+++ b/AX12.h Thu Dec 17 00:09:38 2015 +0000
@@ -83,6 +83,9 @@
public:
AX12(DynamixelBus* pbus, ServoId = 1);
+ // sets the servo ID
+ StatusCode SetServoId(char newId);
+
// returns the status of the servo (connected/not connected + errors)
StatusCode Ping();