robot arm demo team
demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
RobotArmCfg.h@18:224289104fc0, 2016-01-23 (annotated)
- Committer:
- henryrawas
- Date:
- Sat Jan 23 00:08:30 2016 +0000
- Revision:
- 18:224289104fc0
- Child:
- 19:2f0ec9ac1238
refactor
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| henryrawas | 18:224289104fc0 | 1 | /* |
| henryrawas | 18:224289104fc0 | 2 | Copyright (c) 2015 Jonathan Pickett & Microsoft. Some appropriate open source license. |
| henryrawas | 18:224289104fc0 | 3 | */ |
| henryrawas | 18:224289104fc0 | 4 | |
| henryrawas | 18:224289104fc0 | 5 | #ifndef __ROBOT_ARM_CFG_H__ |
| henryrawas | 18:224289104fc0 | 6 | #define __ROBOT_ARM_CFG_H__ |
| henryrawas | 18:224289104fc0 | 7 | |
| henryrawas | 18:224289104fc0 | 8 | #include "RobotNode.h" |
| henryrawas | 18:224289104fc0 | 9 | |
| henryrawas | 18:224289104fc0 | 10 | // define number of joints for this arm |
| henryrawas | 18:224289104fc0 | 11 | #define NUMJOINTS 5 |
| henryrawas | 18:224289104fc0 | 12 | |
| henryrawas | 18:224289104fc0 | 13 | // used to configure each joint |
| henryrawas | 18:224289104fc0 | 14 | typedef struct _NodeCfg |
| henryrawas | 18:224289104fc0 | 15 | { |
| henryrawas | 18:224289104fc0 | 16 | NodePartType JointType; |
| henryrawas | 18:224289104fc0 | 17 | int JointId; |
| henryrawas | 18:224289104fc0 | 18 | } NodeCfg; |
| henryrawas | 18:224289104fc0 | 19 | |
| henryrawas | 18:224289104fc0 | 20 | // specify joints in arm |
| henryrawas | 18:224289104fc0 | 21 | static NodeCfg ArmJoints[NUMJOINTS] = { |
| henryrawas | 18:224289104fc0 | 22 | { NT_AX12, 2 }, |
| henryrawas | 18:224289104fc0 | 23 | { NT_AX12, 3 }, |
| henryrawas | 18:224289104fc0 | 24 | { NT_AX12, 4 }, |
| henryrawas | 18:224289104fc0 | 25 | { NT_AX12, 6 }, |
| henryrawas | 18:224289104fc0 | 26 | { NT_AX12, 1 } |
| henryrawas | 18:224289104fc0 | 27 | }; |
| henryrawas | 18:224289104fc0 | 28 | |
| henryrawas | 18:224289104fc0 | 29 | |
| henryrawas | 18:224289104fc0 | 30 | #endif |