Dyanamixel
Dependents: YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more
Diff: AX12.h
- Revision:
- 1:3ac0919c093f
- Parent:
- 0:10c9fb86002f
- Child:
- 3:97fc13b4168c
- Child:
- 4:c6f37021e939
--- a/AX12.h Tue Mar 31 09:45:27 2015 +0000 +++ b/AX12.h Wed Apr 08 08:03:42 2015 +0000 @@ -25,7 +25,7 @@ #define MBED_AX12_H #include "mbed.h" -#include "SerialHalfDuplex.h" +//#include "SerialHalfDuplex.h" #define AX12_WRITE_DEBUG 0 #define AX12_READ_DEBUG 0 @@ -41,6 +41,7 @@ #define AX12_REG_VOLTS 0x2A #define AX12_REG_TEMP 0x2B #define AX12_REG_MOVING 0x2E +#define AX12_REG_TORQUE_LIMIT 0x22 #define AX12_REG_POSITION 0x24 #define AX12_MODE_POSITION 0 @@ -161,11 +162,14 @@ */ float GetVolts(void); - float TorqueEnable(int mode); + int TorqueEnable(int mode); + + int SetTorqueLimit(float torque_limit); private : - SerialHalfDuplex _ax12; +// SerialHalfDuplex _ax12; + Serial _ax12; int _ID; int read(int ID, int start, int length, char* data);