Delta Robot example
Dependencies: BufferedSerial Eigen
Fork of TCPSocket_Example by
Diff: Axis.h
- Revision:
- 3:10fa3102c2d7
- Child:
- 4:778bc352c47f
diff -r 50f1485931f1 -r 10fa3102c2d7 Axis.h --- /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