Diff: AX12.h

Revision:

3:7b970151bf19

Parent:

1:d7642b2e155d

Child:

5:bae6dc62dfb4

--- a/AX12.h	Tue Dec 15 04:37:54 2015 +0000
+++ b/AX12.h	Wed Dec 23 18:32:37 2015 +0000
@@ -21,7 +21,7 @@
 
 #include "mbed.h"
 #include "DynamixelBus.h"
-
+#include "RobotNode.h"
 
 enum ControlTable
 {
@@ -77,7 +77,7 @@
     ctPunchH              = 49        // RD/WR
 };
 
-class AX12
+class AX12 : public RobotNode
 {
 
 public:
@@ -86,7 +86,7 @@
     // returns the status of the servo (connected/not connected + errors)
     StatusCode Ping();
 
-    // Sets toe goal position of the servo in degrees
+    // Sets the goal position of the servo in degrees
     StatusCode SetGoal(float degrees);
 
     // determines if the servo is moving
@@ -104,8 +104,41 @@
     // enables/disables holding torque 
     StatusCode TorqueEnable( bool );
 
+    // check if measure available
+    virtual bool HasMeasure(int measureId);
+    
+    // get normalized measure value
+    virtual float GetMeasure(int measureId);
+
+    // get normalized measure value
+    virtual float GetLastMeasure(int measureId);
+    
+    // do action
+    virtual bool DoAction(int actionId, float actionValue);
+   
+    // check if has action
+    virtual bool HasAction(int actionId);
+    
+    // get last error
+    virtual unsigned char GetLastError();
+    
+    // get node type
+    virtual NodePartType GetNodeType();
+    
 private :
     ServoId _ID;
     DynamixelBus* _pbus;
+    
+    // last read temperature
+    int _LastTemperature;
+    
+    // last read position
+    float _LastPosition;
+    
+    // last read voltage
+    float _LastVoltage;
+    
+    unsigned char _LastError;
+    
 };
 #endif