mbed to Dynamixel servo communication.
Dependents: dynamixel_wheel_test
Diff: Dynamixel.h
- Revision:
- 1:ce081666d225
- Parent:
- 0:fb8a2d249639
- Child:
- 3:61785d105315
diff -r fb8a2d249639 -r ce081666d225 Dynamixel.h --- 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;