Dan Gongora / Dynamixel

mbed to Dynamixel servo communication.

Dependents:   dynamixel_wheel_test

Diff: Dynamixel.h

Revision:
1:ce081666d225
Parent:
0:fb8a2d249639
Child:
3:61785d105315
--- a/Dynamixel.h	Wed Aug 19 05:39:57 2015 +0000
+++ b/Dynamixel.h	Wed Aug 19 06:10:52 2015 +0000
@@ -2,6 +2,8 @@
 #define DEF_DYNAMIXEL
 
 #include "mbed.h"
+const unsigned char BROADCAST_ID = 0xfe;
+const unsigned char STATUS_PACKET_LENGTH = 0x06;
 // Instruction set
 const unsigned char PING = 0x01;
 const unsigned char READ_DATA = 0x02;
@@ -20,10 +22,10 @@
 {
 public:
     Dynamixel(PinName tx, PinName rx, PinName txEnable, uint8_t motorID, int baudrate);
-    void ping();
-    void toggleLED(uint8_t ledState);
-    void move(uint16_t position);
-    void setSpeed(uint16_t speed);
+    uint8_t ping();
+    uint8_t toggleLED(uint8_t ledState);
+    uint8_t move(uint16_t position);
+    uint8_t setSpeed(uint16_t speed);
 private:
     Serial m_link;
     DigitalOut m_txEnable;