Tatsuya Yamamoto / Mbed 2 deprecated UV_Robot_Nucleo

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Dependencies:   mbed X_NUCLEO_PLC01A1 ros_lib_melodic

Diff: ms-94bzb.h

Revision:
3:ea5cfd721b53
Parent:
1:ef4b86795d79
diff -r 72761505a690 -r ea5cfd721b53 ms-94bzb.h
--- a/ms-94bzb.h	Sat Aug 15 09:21:36 2020 +0000
+++ b/ms-94bzb.h	Sun Aug 30 06:39:43 2020 +0000
@@ -18,6 +18,8 @@
     static const uint16_t CTL_COMMAND = (0x09<<7);
     static const uint8_t PWM_CTL = 0;
     static const uint8_t CAN_CTL = 1;
+    
+    static const uint16_t STATE_COMMAND_2 = (0x07<<7);
 
     /* Pointer of CAN controller */
     CANController *_pCanController;
@@ -34,6 +36,8 @@
     /* Turning acceleration of brush-less motor (100-11,164[rpm/s])*/
     uint16_t _accel;
     
+    uint16_t _voltage;
+    
 public:
     MS_94BZB( uint8_t motorID, CANController *pCanController);
     virtual void motorInit();
@@ -42,6 +46,7 @@
     virtual void free();
     void setAngularVelocity(float avel);
     void setAcceleration(uint16_t accel);
+    uint16_t getInputVoltage();
 };
 
 #endif
\ No newline at end of file