Tatsuya Yamamoto / Mbed 2 deprecated UV_Robot_Nucleo

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Dependencies:   mbed X_NUCLEO_PLC01A1 ros_lib_melodic

Diff: ms-94bzb.cpp

Revision:
3:ea5cfd721b53
Parent:
1:ef4b86795d79
--- a/ms-94bzb.cpp	Sat Aug 15 09:21:36 2020 +0000
+++ b/ms-94bzb.cpp	Sun Aug 30 06:39:43 2020 +0000
@@ -84,4 +84,14 @@
 */
 void MS_94BZB::setAcceleration(uint16_t accel){
     _accel = (uint16_t)(_gearRatio*accel);
+}
+
+uint16_t MS_94BZB::getInputVoltage(){
+    uint16_t CAN_ID = STATE_COMMAND_2|_motorID;
+    unsigned char *rMsg;
+    rMsg = _pCanController->recieveMessage( CAN_ID );
+    if(rMsg != _pCanController->_NoData){
+        _voltage = rMsg[5]<<8 + rMsg[6];
+    }
+    return _voltage;
 }
\ No newline at end of file