Takeuchi Issei / Mbed 2 deprecated 4Omunisleeve3

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Dependencies:   mbed Eigen

shared/I2CMD/I2CMD.h

Committer:
e2011220
Date:
2021-04-14
Revision:
0:ee7e9405e1c7

File content as of revision 0:ee7e9405e1c7:

#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