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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 NodeAX12.h Source File

NodeAX12.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 __NODE_AX12_H__
00005 #define __NODE_AX12_H__
00006 
00007 #include "RobotNode.h"
00008 #include "AX12.h"
00009 
00010 
00011 class NodeAX12 : public RobotNode
00012 {
00013 public:
00014     NodeAX12(DynamixelBus* pbus, ServoId ID);
00015     
00016     virtual bool HasMeasure(int measureId);
00017     
00018     virtual float GetMeasure(int measureId);
00019     
00020     virtual void ClearMeasureCache();
00021     
00022     virtual bool HasAction(int actionId);
00023     
00024     virtual bool DoAction(int actionId, float actionValue);
00025     
00026     virtual int GetLastError();
00027     
00028     virtual bool HasError();
00029     
00030     virtual NodePartType GetNodeType();
00031     
00032 private:
00033     AX12 _Servo;
00034 };
00035 
00036 #endif
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