Andrew Fagg / SIPPCLegInterface

Example use of I2CTransaction class. In this example, the master mbed is talking to 3 legs of the SIPPC3B robot.

Diff: LegInterface.h

Revision:
2:17c7a02f8401
Parent:
1:d3abc0577ebc
Child:
3:8e7471af3453
--- a/LegInterface.h	Thu May 22 21:17:58 2014 +0000
+++ b/LegInterface.h	Fri May 23 19:27:12 2014 +0000
@@ -11,14 +11,28 @@
 
     // An array of I2C addresses indexable by enum Leg
     static const int LegAddress[];
+    
+    // Encoder to wheel
+    static const float TICKS_PER_METER = 52633.97;
+    
+    // Angle between front legs
+    static const float FRONT_LEG_ANGLE = 130;  // Degrees
+    
+    // Distance from center of robot to wheel
+    static const float ROBOT_RADIUS = 0.4702;  // m
+    
+    // Number of A2D ticks per meter.  TODO: is 4096 right?
+    static const float LIFT_TICKS_PER_METER = 4096 / 0.1;
 
 
     LegInterface(Serial *pc = NULL);
 
     bool sendEstop(bool estop);
     bool queryStateInitiate();
-    bool queryStateCompleted(int timeout = 1000);
+    bool queryStateCompleted();
+    bool queryStateWaitForCompletion(int timeout = 1000);
     bool queryStateCopy(LegState_t legState[NUM_LEGS]);
+    bool queryStateCopy(float liftPosition[NUM_LEGS], float liftVelocity[NUM_LEGS], float wheelPosition[NUM_LEGS], float wheelVelocity[NUM_LEGS]);
     void displayLegState(LegState_t *legState);
     bool queryLegParams(Leg leg, LegControlParams_t *liftParams, LegControlParams_t *wheelParams);
     void displayParams(LegControlParams_t *params);