Diff: herkulex.h

Revision:

3:3aa495712025

Parent:

2:971b320e1e8b

Child:

4:e6873d42df32

--- a/herkulex.h	Mon Jan 14 07:12:46 2013 +0000
+++ b/herkulex.h	Mon Jan 14 07:18:47 2013 +0000
@@ -193,9 +193,37 @@
 #define SET_LED_BLUE_ON                     0x08
 #define SET_LED_RED_ON                      0x10
 
-
 //------------------------------------------------------------------------------
-
+/** herkulex Servo control class, based packet protocol on a serial
+ *
+ * Example:
+ * @code
+ *
+ *#include "mbed.h"
+ *#include "herkulex.h"
+ *
+ *Herkulex sv(p9, p10, 115200);
+ *DigitalOut led(LED1);
+ *
+ *int main() 
+ *{   
+ *    wait(1);
+ *    sv.setTorque(0xFD, TORQUE_ON);
+ *    while(1) 
+ *    {
+ *        led=1;
+ *        sv.movePos(0xFD, 1002, 100, SET_MODE_POS, SET_LED_GREEN_ON);
+ *        wait(3);
+ *        
+ *        led=0;       
+ *        sv.movePos(0xFD, 21, 100, SET_MODE_POS, SET_LED_BLUE_ON);
+ *        wait(3);
+ *    }
+ *}
+ *
+ * @endcode
+ */
+//------------------------------------------------------------------------------
 class Herkulex
 {
 public: