Diff: ControlleurPince/ControlleurPince.h

Revision:

71:5590dbe8393a

Parent:

58:02dc8328975a

--- a/ControlleurPince/ControlleurPince.h	Wed May 04 21:51:00 2016 +0000
+++ b/ControlleurPince/ControlleurPince.h	Thu May 05 03:47:05 2016 +0000
@@ -1,6 +1,7 @@
 #ifndef CONTROLLEUR_PINCE_H
 #define CONTROLLEUR_PINCE_H
 
+//#include "defines.h"
 #include "Stepper.h"
 #include "mbed.h"
 
@@ -9,10 +10,14 @@
     
     public:
     
-    ControlleurPince(Stepper &p_RMot, Stepper &p_ZMot, Stepper &p_LMot, DigitalIn &p_EnR, DigitalIn &p_EnZ, DigitalIn &p_EnL);
-    
-    void home(bool r=true, bool z=true, bool l=true);
-    void setPos(float z, float delta, float center);
+        ControlleurPince(Stepper &p_RMot, Stepper &p_ZMot, Stepper &p_LMot, DigitalIn &p_EnR, DigitalIn &p_EnZ, DigitalIn &p_EnL, AX12 &_Lax12, AX12 &_Rax12);
+        
+        void init();
+        void home(bool r=true, bool z=true, bool l=true);
+        void setPos(float z, float delta, float center = -600);
+        
+        void close();
+        void open();
     
     private:
     
@@ -20,6 +25,8 @@
         
         DigitalIn &EnR, &EnZ, &EnL;
         
+        AX12 &Lax12, &Rax12;
+        
         float pos_r,pos_z,pos_l;
 };