hisyam fs
/
Test_all
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Dependencies: mbed ADS1115 StepperMotor SRF05 TPA81new
Diff: Dynamixel.h
- Revision:
- 2:0ed32411598c
- Parent:
- 1:ef90d942ce78
- Child:
- 3:e5577be2fe70
diff -r ef90d942ce78 -r 0ed32411598c Dynamixel.h
--- a/Dynamixel.h Wed Aug 19 05:36:55 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,33 +0,0 @@
-#ifndef DEF_DYNAMIXEL
-#define DEF_DYNAMIXEL
-
-#include "mbed.h"
-// Instruction set
-const unsigned char PING = 0x01;
-const unsigned char READ_DATA = 0x02;
-const unsigned char WRITE_DATA = 0x03;
-const unsigned char REG_WRITE = 0x04;
-const unsigned char ACTION = 0x05;
-const unsigned char RESET = 0x06;
-const unsigned char SYNC_WRITE = 0x83;
-// Control table
-const unsigned char ADDRESS_PRESENT_TEMPERATURE = 0x2B;
-const unsigned char ADDRESS_GOAL_POSITION = 0x1E;
-const unsigned char ADDRESS_LED = 0x19;
-const unsigned char ADDRESS_MOVING_SPEED = 0x20;
-
-class Dynamixel
-{
-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);
-private:
- Serial m_link;
- DigitalOut m_txEnable;
- uint8_t m_motorID;
- const int m_baudrate;
-};
-#endif
\ No newline at end of file