robot arm demo team / Mbed 2 deprecated RobotArmDemo Featured

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

Diff: ActionBuf.h

Revision:
13:ffeff9b5e513
Parent:
10:9b21566a5ddb
diff -r ac6c9d7f8c40 -r ffeff9b5e513 ActionBuf.h
--- a/ActionBuf.h	Thu Jan 07 17:31:23 2016 +0000
+++ b/ActionBuf.h	Fri Jan 15 22:02:46 2016 +0000
@@ -10,7 +10,6 @@
 #include "RobotArm.h"
 
 
-#define ActionBufSize  100
 #define ActionArgSize  40
 
 class ActionGroup
@@ -25,16 +24,14 @@
     char ActionArg[ActionArgSize];
 };
 
-extern SafeCircBuf<ActionGroup, ActionBufSize, uint32_t> ActionBuf;
 
 
 enum SequenceAction
 {
     SA_SetGoal          = 0x1,
     SA_Delay            = 0x2,
-    SA_Status           = 0x3,
-    SA_LoopBegin        = 0x4,
-    SA_LoopEnd          = 0x5
+    SA_LoopBegin        = 0x3,
+    SA_LoopEnd          = 0x4
 };
 
 class ActionSequence
@@ -44,11 +41,10 @@
     
     ActionSequence(SequenceAction aType);
     
-    ActionSequence(SequenceAction aType, vector<float>& vals, int param);
+ 
+    ActionSequence(SequenceAction aType, int parts, const float vals[], int param);
     
-    ActionSequence(SequenceAction aType, int parts, float vals[], int param);
-    
-    void SetGoal(vector<float>& vals);
+    void SetGoal(int parts, const float vals[]);
     
     void SetParam(int param);
     
@@ -56,7 +52,9 @@
     
     SequenceAction ActionType;
     
-    vector<float> GoalVals;
+    float GoalVals[NUMJOINTS];
+    
+    int NumParts;
     
     int Param;