Diff: serial_connected_mcu.hpp

Revision:

16:4e310c3f3a2b

Parent:

15:9a50a5a747ad

--- a/serial_connected_mcu.hpp	Mon Aug 01 05:33:09 2016 +0000
+++ b/serial_connected_mcu.hpp	Mon Aug 08 05:12:35 2016 +0000
@@ -23,7 +23,7 @@
     
     static serial_connected_mcu* _instance;
     
-    static const int16_t _init_write_data[SIZE_OF_WRITE_DATA];
+    static const float _sampling_delta_time_usec;
     
     static const PinName _servo_pins[];
     static TIM_TypeDef* _encoder_timers[];
@@ -31,25 +31,18 @@
     static const PinName _analog_input_pins[];
     
     static const size_t _servo_num;
-    static const size_t _encoder_num;
     static const size_t _analog_input_num;
+    enum {
+        ENCODER_NUM = 3
+    };
     
     servo** _servos;
     rotary_encoder_ab_phase** _encoders;
     AnalogIn** _analog_inputs;
     
-    #ifdef USE_LIFTER_MODE
-    enum {
-        UPPER_LIMIT,
-        LOWER_LIMIT,
-        LIMIT_SWITCHES_NUM
-    };
-    static const PinName _limit_switch_pins[LIMIT_SWITCHES_NUM];
-    DigitalIn* _limit_switches[LIMIT_SWITCHES_NUM];
-    #endif
-    
     float* _prev_encoders_values;
     Timer _timer;
+    float _encoders_speed[ENCODER_NUM];
     
     serial_connected_mcu_slave _slave;
 };