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

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Show/hide line numbers ActionBuf.h Source File

ActionBuf.h

00001 // Copyright (c) Microsoft. All rights reserved.
00002 // Licensed under the MIT license. See LICENSE file in the project root for full license information.
00003 
00004 #ifndef __ACTIONBUF_H__
00005 #define __ACTIONBUF_H__
00006 
00007 #include "mbed.h"
00008 #include "SafeCircBuf.h"
00009 #include "RobotArmCfg.h"
00010 
00011 
00012 enum SequenceAction
00013 {
00014     SA_SetGoal          = 0x1,
00015     SA_Delay            = 0x2,
00016     SA_LoopBegin        = 0x3,
00017     SA_LoopEnd          = 0x4
00018 };
00019 
00020 class ActionSequence
00021 {
00022 public:
00023     ActionSequence();
00024     
00025     ActionSequence(SequenceAction aType);
00026     
00027  
00028     ActionSequence(SequenceAction aType, int parts, const float vals[], int param);
00029     
00030     void SetGoal(int parts, const float vals[]);
00031     
00032     void SetParam(int param);
00033     
00034     void SetAction(SequenceAction aType);
00035     
00036     SequenceAction ActionType;
00037     
00038     float GoalVals[NUMJOINTS];
00039     
00040     int NumParts;
00041     
00042     int Param;
00043     
00044 };
00045 
00046 
00047 #endif
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