Diff: AX12.h

Revision:

3:ced71d1b2558

Parent:

2:5ea99c37a2d7

Child:

4:5b9ce05ad2e0

--- a/AX12.h	Sun Apr 10 20:58:21 2011 +0000
+++ b/AX12.h	Sun Apr 10 21:20:44 2011 +0000
@@ -32,6 +32,7 @@
 //#define AX12_DEBUG 0
 
 #define AX12_REG_ID 0x3
+#define AX12_REG_BAUD 0x4
 #define AX12_REG_CW_LIMIT 0x06
 #define AX12_REG_CCW_LIMIT 0x08
 #define AX12_REG_GOAL_POSITION 0x1E
@@ -86,6 +87,21 @@
      */
     int SetMode(int mode);
 
+    /** Set baud rate of all attached servos
+     * @param mode
+     *    0x01 = 1,000,000 bps
+     *    0x03 =   500,000 bps
+     *    0x04 =   400,000 bps
+     *    0x07 =   250,000 bps
+     *    0x09 =   200,000 bps
+     *    0x10 =   115,200 bps
+     *    0x22 =    57,600 bps
+     *    0x67 =    19,200 bps
+     *    0xCF =     9,600 bp
+     */
+    int SetBaud(int baud);
+
+
     /** Set goal angle in integer degrees, in positional mode
      *
      * @param degrees 0-300