File content as of revision 0:b3376afd10d8:

class mtrAccess
{
private:

    float motor1_current_center_value;
    float motor2_current_center_value;
    float motor3_current_center_value;
    float motor1_current_fwd_thd;
    float motor1_current_rvs_thd;
    float motor2_current_fwd_thd;
    float motor2_current_rvs_thd;
    uint32_t motor_pantiltwch_1_lock_count;
    uint32_t motor_pantiltwch_2_lock_count;
    // Motor lock
    volatile bool       flg_motor_pantiltwch_1_lockcup;
    volatile bool       flg_motor_pantiltwch_2_lockcup;
    volatile uint32_t   flg_motor_pantiltwch_1_lock;
    volatile uint32_t   flg_motor_pantiltwch_2_lock;
    
    
    int MCTR_CANID_CRAWLER;     // CRAWLER motor ID
    int MCTR_CANID_PTORWCH;     // PAN,TILT(B1) or Winch(B2) motor ID
    int MCTR_CANID_TRANSFORM;   // TRANSFORM motor ID

    bool sndCmd2MC( int rcan_id, int no, int speed ); 
    

public:

    bool flg_timerint_motor;
    bool flg_ival_motor_cw;
    bool flg_ival_motor_ccw;
    
    int16_t move_interval_cw;   // moving interval m1 to m2 cw rotation
    int16_t move_interval_ccw;  // moving interval m1 to m2 ccw rotation 

    mtrAccess();
    bool setBaudRate( int baudrate );
    bool cmdControl( char* cmd, int sizeofcmd, int speed_m1, int speed_m2 );
    int readMotorCurrent( int motor_id, int motor_no, int motor_dir );
};