Diff: RobotControl_7Axis.h

Revision:

3:e380c7db9133

Parent:

2:71ed7da9ea36

--- a/RobotControl_7Axis.h	Sat Feb 11 13:06:49 2017 +0000
+++ b/RobotControl_7Axis.h	Fri Mar 31 16:31:30 2017 +0800
@@ -156,6 +156,28 @@
 	AXIS6_ROBOT_LIM_DEG_H*DEF_RATIO_DEG_TO_RAD,
 	AXIS7_ROBOT_LIM_DEG_H*DEF_RATIO_DEG_TO_RAD
 };
+
+static const float grobot_lim_pus_L[MAX_AXIS_NUM]=
+{
+	AXIS1_ROBOT_LIM_DEG_L*DEF_RATIO_DEG_TO_PUS,
+	AXIS2_ROBOT_LIM_DEG_L*DEF_RATIO_DEG_TO_PUS,
+	AXIS3_ROBOT_LIM_DEG_L*DEF_RATIO_DEG_TO_PUS,
+	AXIS4_ROBOT_LIM_DEG_L*DEF_RATIO_DEG_TO_PUS,
+	AXIS5_ROBOT_LIM_DEG_L*DEF_RATIO_DEG_TO_PUS,
+	AXIS6_ROBOT_LIM_DEG_L*DEF_RATIO_DEG_TO_PUS,
+	AXIS7_ROBOT_LIM_DEG_L*DEF_RATIO_DEG_TO_PUS
+};
+
+static const float grobot_lim_pus_H[MAX_AXIS_NUM]=
+{
+	AXIS1_ROBOT_LIM_DEG_H*DEF_RATIO_DEG_TO_PUS,
+	AXIS2_ROBOT_LIM_DEG_H*DEF_RATIO_DEG_TO_PUS,
+	AXIS3_ROBOT_LIM_DEG_H*DEF_RATIO_DEG_TO_PUS,
+	AXIS4_ROBOT_LIM_DEG_H*DEF_RATIO_DEG_TO_PUS,
+	AXIS5_ROBOT_LIM_DEG_H*DEF_RATIO_DEG_TO_PUS,
+	AXIS6_ROBOT_LIM_DEG_H*DEF_RATIO_DEG_TO_PUS,
+	AXIS7_ROBOT_LIM_DEG_H*DEF_RATIO_DEG_TO_PUS
+};
 //=================================
 //==morot max pulse in joint mode
 //=================================
@@ -182,6 +204,7 @@
 int ROM_Setting();
 int Read_pos(float *pos,unsigned char unit);
 int Output_to_Dynamixel(const float *Ang_rad,const unsigned short int *velocity) ;
+int Output_to_Dynamixel_pulse(const unsigned short int *Ang_pus,const unsigned short int *velocity); 
 Matrix R_z1x2y3(float alpha,float beta,float gamma);
 float norm(const Matrix& v);
 Matrix Rogridues(float theta,const Matrix& V_A);