robot arm demo team / Mbed 2 deprecated RobotArmDemo Featured

demo project

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

Diff: RobotArm.cpp

Revision:
11:3a2e6eb9fbb8
Parent:
10:9b21566a5ddb
Child:
12:ac6c9d7f8c40
--- a/RobotArm.cpp	Wed Jan 06 00:58:41 2016 +0000
+++ b/RobotArm.cpp	Wed Jan 06 22:25:51 2016 +0000
@@ -9,7 +9,7 @@
 
 using namespace std;
 
-DynamixelBus dynbus( PTC17, PTC16, D7, D6, 1000000 );
+DynamixelBus dynbus( PTC17, PTC16, D7, D6, 500000 );
 
 
 // set the id for each part in the chain, in order
@@ -36,6 +36,13 @@
     failms = 0;
 }
 
+void RobotArm::ClearErrorState()
+{
+    for (int i = 0; i < _numParts; i++)
+    {
+        _armParts[i]->DoAction(NA_ClearError, 0.0f);
+    }
+}
 
 // move all parts to specified postions in ms time
 bool RobotArm::MoveArmPositionsStart(vector<float> positions, int totms)