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demo project

Dependencies:   AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL

Utils/ActionBuf.h@33:8b9dcbf6d8ec, 2016-02-04 (annotated)

Committer:
henryrawas
Date:
Thu Feb 04 20:10:33 2016 +0000
Revision:
33:8b9dcbf6d8ec
Parent:
19:2f0ec9ac1238 
update libs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
henryrawas 19:2f0ec9ac1238 1 // Copyright (c) Microsoft. All rights reserved.
henryrawas 19:2f0ec9ac1238 2 // Licensed under the MIT license. See LICENSE file in the project root for full license information.
henryrawas 18:224289104fc0 3
henryrawas 18:224289104fc0 4 #ifndef __ACTIONBUF_H__
henryrawas 18:224289104fc0 5 #define __ACTIONBUF_H__
henryrawas 18:224289104fc0 6
henryrawas 18:224289104fc0 7 #include "mbed.h"
henryrawas 18:224289104fc0 8 #include "SafeCircBuf.h"
henryrawas 18:224289104fc0 9 #include "RobotArmCfg.h"
henryrawas 18:224289104fc0 10
henryrawas 18:224289104fc0 11
henryrawas 18:224289104fc0 12 enum SequenceAction
henryrawas 18:224289104fc0 13 {
henryrawas 18:224289104fc0 14 SA_SetGoal = 0x1,
henryrawas 18:224289104fc0 15 SA_Delay = 0x2,
henryrawas 18:224289104fc0 16 SA_LoopBegin = 0x3,
henryrawas 18:224289104fc0 17 SA_LoopEnd = 0x4
henryrawas 18:224289104fc0 18 };
henryrawas 18:224289104fc0 19
henryrawas 18:224289104fc0 20 class ActionSequence
henryrawas 18:224289104fc0 21 {
henryrawas 18:224289104fc0 22 public:
henryrawas 18:224289104fc0 23 ActionSequence();
henryrawas 18:224289104fc0 24
henryrawas 18:224289104fc0 25 ActionSequence(SequenceAction aType);
henryrawas 18:224289104fc0 26
henryrawas 18:224289104fc0 27
henryrawas 18:224289104fc0 28 ActionSequence(SequenceAction aType, int parts, const float vals[], int param);
henryrawas 18:224289104fc0 29
henryrawas 18:224289104fc0 30 void SetGoal(int parts, const float vals[]);
henryrawas 18:224289104fc0 31
henryrawas 18:224289104fc0 32 void SetParam(int param);
henryrawas 18:224289104fc0 33
henryrawas 18:224289104fc0 34 void SetAction(SequenceAction aType);
henryrawas 18:224289104fc0 35
henryrawas 18:224289104fc0 36 SequenceAction ActionType;
henryrawas 18:224289104fc0 37
henryrawas 18:224289104fc0 38 float GoalVals[NUMJOINTS];
henryrawas 18:224289104fc0 39
henryrawas 18:224289104fc0 40 int NumParts;
henryrawas 18:224289104fc0 41
henryrawas 18:224289104fc0 42 int Param;
henryrawas 18:224289104fc0 43
henryrawas 18:224289104fc0 44 };
henryrawas 18:224289104fc0 45
henryrawas 18:224289104fc0 46
henryrawas 18:224289104fc0 47 #endif