Takeuchi Issei / Mbed 2 deprecated 4Omunisleeve3

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Dependencies:   mbed Eigen

Diff: shared/I2CMD/I2CMD.h

Revision:
0:ee7e9405e1c7
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/I2CMD/I2CMD.h	Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,30 @@
+#ifndef I2CMD_H_
+#define I2CMD_H_
+
+#include <mbed.h>
+#include <shared/MD/MD.h>
+
+class I2CMD : public MD
+{
+public:
+    I2CMD(I2C *i2c_bus, int i2c_address, int motor_id, int retries = 10);
+    virtual void drive(double);
+    virtual void brake(double);
+    virtual void free();
+
+    void set_retries(int);
+    bool get_error();
+
+private:
+    bool i2c_write(int command, char *data, int length);
+    uint8_t conv_strength_to_duty_u8(double);
+
+    I2C *_i2c_bus;
+    int _i2c_address;
+    int _motor_id;
+
+    int _retries;
+    bool _error;
+};
+
+#endif