Xavier Bouvard
/
herkulex
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Fork of
herkulex
by 
Yoonseok Pyo
Revision 3:3aa495712025, committed 2013-01-14
- Comitter:
- passionvirus
- Date:
- Mon Jan 14 07:18:47 2013 +0000
- Parent:
- 2:971b320e1e8b
- Child:
- 4:e6873d42df32
- Commit message:
- add example code
Changed in this revision
| herkulex.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/herkulex.h Mon Jan 14 07:12:46 2013 +0000
+++ b/herkulex.h Mon Jan 14 07:18:47 2013 +0000
@@ -193,9 +193,37 @@
#define SET_LED_BLUE_ON 0x08
#define SET_LED_RED_ON 0x10
-
//------------------------------------------------------------------------------
-
+/** herkulex Servo control class, based packet protocol on a serial
+ *
+ * Example:
+ * @code
+ *
+ *#include "mbed.h"
+ *#include "herkulex.h"
+ *
+ *Herkulex sv(p9, p10, 115200);
+ *DigitalOut led(LED1);
+ *
+ *int main()
+ *{
+ * wait(1);
+ * sv.setTorque(0xFD, TORQUE_ON);
+ * while(1)
+ * {
+ * led=1;
+ * sv.movePos(0xFD, 1002, 100, SET_MODE_POS, SET_LED_GREEN_ON);
+ * wait(3);
+ *
+ * led=0;
+ * sv.movePos(0xFD, 21, 100, SET_MODE_POS, SET_LED_BLUE_ON);
+ * wait(3);
+ * }
+ *}
+ *
+ * @endcode
+ */
+//------------------------------------------------------------------------------
class Herkulex
{
public: