Simon Emarre / AX12

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Dependents:   Nucleo_robot_2ndaire

Fork of AX12 by Akichika Tanaka

Files at this revision

API Documentation at this revision

Revision 1:40bc0469fd51, committed 2015-04-11

Comitter:
sype
Date:
Sat Apr 11 16:07:29 2015 +0000
Parent:
0:db8f063d50f0
Commit message:
okay

Changed in this revision

AX12.cpp Show annotated file Show diff for this revision Revisions of this file
AX12.h Show annotated file Show diff for this revision Revisions of this file 
--- a/AX12.cpp	Wed Oct 05 12:08:21 2011 +0000
+++ b/AX12.cpp	Sat Apr 11 16:07:29 2015 +0000
@@ -264,6 +264,17 @@
     return (angle);
 }
 
+int AX12::GetSpeed(void) {
+
+    printf("\nGetSpeed(%d)",_ID);
+
+    char data[2];
+
+    int ErrorCode = read(_ID, 0x26, 2, data);
+    int position = data[0] + (data[1] << 8);
+
+    return (position);
+}
 
 float AX12::GetTemp (void) {
 

--- a/AX12.h	Wed Oct 05 12:08:21 2011 +0000
+++ b/AX12.h	Sat Apr 11 16:07:29 2015 +0000
@@ -42,6 +42,7 @@
 #define AX12_REG_TEMP 0x2B
 #define AX12_REG_MOVING 0x2E
 #define AX12_REG_POSITION 0x24
+#define AX12_REG_SPEED 0x26
 
 #define AX12_MODE_POSITION  0
 #define AX12_MODE_ROTATION  1
@@ -121,7 +122,8 @@
      *    1.0 = full speed clock wise
      */
     int SetCRSpeed(float speed);
-
+    
+    int GetSpeed(void);
 
     /** Set the clockwise limit of the servo
      *
@@ -186,7 +188,7 @@
 
 private :
 
-    SerialHalfDuplex _ax12;
+    Serial _ax12;
     int _ID;
     int _baud;