Diff: AX12.h

Revision:

1:1dd9cd18975d

Parent:

0:d4af99baf76f

Child:

2:3000c6778d1c

--- a/AX12.h	Sat Aug 06 12:20:27 2011 +0000
+++ b/AX12.h	Sun Aug 07 13:06:04 2011 +0000
@@ -1,25 +1,4 @@
-/* mbed AX-12+ Servo Library
- *
- * Copyright (c) 2010, cstyles (http://mbed.org)
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
+/* mbed AX-12+ Servo Library - External hardware version */
 
 #ifndef MBED_AX12_H
 #define MBED_AX12_H
@@ -31,75 +10,31 @@
 #define AX12_TRIGGER_DEBUG 0
 #define AX12_DEBUG 0
 
-#define AX12_REG_ID 0x3
-#define AX12_REG_CW_LIMIT 0x06
-#define AX12_REG_CCW_LIMIT 0x08
 #define AX12_REG_GOAL_POSITION 0x1E
 #define AX12_REG_MOVING_SPEED 0x20
-#define AX12_REG_VOLTS 0x2A
-#define AX12_REG_TEMP 0x2B
-#define AX12_REG_MOVING 0x2E
 #define AX12_REG_POSITION 0x24
 
-#define AX12_MODE_POSITION  0
-#define AX12_MODE_ROTATION  1
-
-#define AX12_CW 1
-#define AX12_CCW 0
-
 #define TRANSMIT 1
 #define RECEIVE 0
 
 class AX12 {
 
 public:
-
     // define which pins are used, and the ID of this instance
-    // Mutiple AX12's can share the same pins.
     AX12(PinName tx, PinName rx, PinName dir, int ID);
 
     // methods for writing and reading registers
     int read(int ID, int start, int length, char* data);
-    int write(int ID, int start, int length, char* data, int flag=0);
+    int write(int ID, int start, int length, char* data);
 
     // set goal angle in integer degrees
-    // flags[0] = blocking (only returns when goal reached
-    // flags[1] = register. Requires broadcast trigger to activate
-    int SetGoal(int degrees, int flags = 0);
-
-    // Mode = 0, positional
-    // Mode = 1, continuous rotation
-    int SetMode(int mode);
-
-    // Speed is -1.0 (CCW) to 1.0 (CW)
-    int SetCRSpeed(float speed);
-
-    // set these in degrees, CCW limit is 300
-    // If both are set to zero, we are continuous rotation
-    int SetCWLimit(int degrees);
-    int SetCCWLimit(int degrees);
-
-    // Change the ID
-    int SetID(int CurrentID, int NewID);
-
-    // returns true if the motor is in motion
-    int isMoving(void);
-
-    // broadcast to trigger registered goals
-    void trigger(void);
-
-    // Get current angle, only valid 0-300
-    float GetPosition();
-
-    // In volts and ^C
-    float GetTemp(void);
-    float GetVolts(void);
+    int SetGoal(int degrees);
+    
+    float GetPosition();        // Get current angle, only valid 0-300
 
 private :
     Serial _ax12;
     DigitalOut _dir;
     int _ID;
-
 };
-
-#endif
+#endif
\ No newline at end of file