joshua Elsdon / Mbed OS DeltaRobotFirmware

Delta Robot example

Dependencies:   BufferedSerial Eigen

Fork of TCPSocket_Example by mbed_example

Diff: Axis.h

Revision:
3:10fa3102c2d7
Child:
4:778bc352c47f
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Axis.h	Fri Oct 05 15:57:55 2018 +0000
@@ -0,0 +1,31 @@
+#ifndef AXIS_H
+#define AXIS_H
+
+class Axis
+{
+public:
+
+    void   Axis(&ODrive od, int ax, DigitalIn homeSwitch,float gearRatio);
+    void   homeAxis();
+    void   goAngle(float angle);
+    void  goAngleSpeed(float angle, float speed);
+
+
+private:
+    &Odrive odrive;
+    int axNum
+    int homeOffset = 0;
+    float currentSetPos = 0;
+    float currentSetVel = 0;
+    DigitalIn homeSwitch_;
+    float maxAngle = 2; //roughtly
+    float gearRatio_ = 3;
+
+
+};
+
+
+
+
+
+#endif // COMMS_H
\ No newline at end of file