Diff: AX12.cpp

Revision:

0:1a48094c99d1

Child:

1:d7642b2e155d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12.cpp	Thu Dec 10 21:45:59 2015 +0000
@@ -0,0 +1,60 @@
+/* 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;
+}