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Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
Utils/ActionBuf.h@19:2f0ec9ac1238, 2016-01-23 (annotated)
- Committer:
- henryrawas
- Date:
- Sat Jan 23 00:20:27 2016 +0000
- Revision:
- 19:2f0ec9ac1238
- Parent:
- 18:224289104fc0
licenses
Who changed what in which revision?
| User | Revision | Line number | New 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 |