RMD-X Motor Library - Last Update V0.5 - On going...... Current available Function - read velocity - read all data - send velocity - send position
RMD.h
- Committer:
- sornpraram
- Date:
- 2020-11-04
- Revision:
- 10:5221a88e2240
- Parent:
- 6:c8149dd9503a
- Child:
- 12:c6ff996ae2e8
File content as of revision 10:5221a88e2240:
#ifndef RMD_H #define RMD_H #include "mbed.h" class RMD: public CAN{ public: RMD(PinName rx, PinName tx); bool send_speed(int id, int speed); bool send_torque(int id, int torque); bool send_position(int id, int position, int speed); void read_pid(); void int2byte(int num); void int2byte2(int pos, int speed); void status(); void status_velocity(); void status_position(); char _data[4]; char _data_sent[8]; char _data_back[8]; //void send_speed(int n); //unsigned char read_pid(); private: unsigned char CANdata[4]; unsigned char CANsent[8]; CANMessage msg; int freq; char id; }; #endif