Diff: MX28.cpp

Revision:

1:3ac0919c093f

Parent:

0:10c9fb86002f

Child:

2:08072af3e9da

--- a/MX28.cpp	Tue Mar 31 09:45:27 2015 +0000
+++ b/MX28.cpp	Wed Apr 08 08:03:42 2015 +0000
@@ -126,6 +126,7 @@
 
 }
 
+
 int MX28::SetCCWLimit (int degrees) {
 
     char data[2];
@@ -261,6 +262,7 @@
     return(volts);
 }
 
+
 float MX28::GetCurrent (void) {
 
     if (MX28_DEBUG) {
@@ -272,6 +274,26 @@
     return(current);
 }
 
+
+int MX28::TorqueEnable (int mode) {
+
+    char data[1];
+    data[0] = mode;
+
+    return (write(_ID, MX28_REG_TORQUE_ENABLE, 1, data));
+}
+
+
+int MX28::SetTorqueLimit (float torque_lim) {
+    
+    short limit = torque_lim * 1023;
+    char data[2];
+    data[0] = limit & 0xff; // bottom 8 bits
+    data[1] = limit >> 8;   // top 8 bits
+
+    return (write(_ID, MX28_REG_TORQUE_LIMIT, 2, data));
+}
+
 int MX28::read(int ID, int start, int bytes, char* data) {
 
     char PacketLength = 0x4;