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);