Diff: Axis.h

Revision:

5:01e1e68309ae

Parent:

4:778bc352c47f

--- a/Axis.h	Sun Oct 07 19:40:12 2018 +0000
+++ b/Axis.h	Mon Oct 15 18:30:20 2018 +0000
@@ -18,14 +18,23 @@
 {
 public:
 
-    Axis(ODrive* od, int ax, DigitalIn* homeSwitch, calVals calibration_,axisName indentity);
+    Axis(ODrive* od, int ax, DigitalIn* homeSwitch, calVals calibration_,axisName identity);
     void   homeAxis();
+    void    findIndex();
     void   goAngle(float angle);
     void  goAngleSpeed(float angle, float speed);
     void runState(int requestedState);
+    int readState();
     DigitalIn* homeSwitch_;
     void setMaxVel(float stepsPerSec);
+    int setParams(float stepsPerSec, float vel_gain, float encoder_bandwidth, float pos_gain, float vel_int);
     ODrive* odrive;
+    void idle();
+    int test();
+    float readParam(string in);
+    float readBattery();
+    float writeParam(string in, float val);
+    axisName name;
 
 private: