robot arm demo team / AX-12A

Provides an interface to an AX-12A servo. Requires the Dynamixel bus protocol library/

Fork of AX-12A by Jonathan Pickett

Diff: AX12.h

Revision:
10:e4c9b94b5879
Parent:
8:b6979be5a0a7
Child:
11:8de493bd8922
--- a/AX12.h	Wed Jan 06 22:25:31 2016 +0000
+++ b/AX12.h	Thu Jan 07 17:31:09 2016 +0000
@@ -77,7 +77,7 @@
     ctPunchH              = 49        // RD/WR
 };
 
-class AX12 : public RobotNode
+class AX12
 {
 
 public:
@@ -110,46 +110,17 @@
     // 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 int GetLastError();
    
     // check if has error
     virtual bool HasError();
-    
-    // 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;
-    
-    // last read load
-    float _LastLoad;
-    
     unsigned char _LastError;
     
 };