William McColl / Mbed 2 deprecated Balanced-Arm

Motor control for robotic arm

Dependencies:   MCP23017 WattBob_TextLCD mbed

Fork of Balanced Arm by Balanced Arm

Diff: AX12.cpp

Revision:
27:d032d8fd4b45
Parent:
25:d345ef4cb2b5
--- a/AX12.cpp	Mon Mar 07 18:53:33 2016 +0000
+++ b/AX12.cpp	Thu Mar 10 14:39:28 2016 +0000
@@ -36,8 +36,8 @@
         SetCCWLimit(0);
         SetCRSpeed(0.0);
     } else {
-        SetCWLimit(70);
-        SetCCWLimit(270);
+        SetCWLimit(0);
+        SetCCWLimit(300);
         SetCRSpeed(0.0);
     }
     return(0);
@@ -141,6 +141,16 @@
     return (angle);
 }
 
+int AX12::GetVoltage(void){
+    
+    char data[2];
+    
+    int ErrorCode = read(_ID, AX12_REG_VOLTAGE, 2, data);
+    short volts = data[0] + (data[1] << 8);
+
+    return (volts);
+}
+
 int AX12::read(int ID, int start, int bytes, char* data){
 
     char TxBuf[16];