Team DIANA / AX12_final

Debugged library

Dependents:   MX106-finaltest dynamixel Arm_dynamixel_can Arm_dynamixel_can_procedurale

Fork of AX12_v2 by Team DIANA

AX12.cpp@15:8112cd01501f, 2019-02-08 (annotated)

Committer:
gidiana
Date:
Fri Feb 08 19:24:03 2019 +0000
Revision:
15:8112cd01501f
Parent:
14:4487db847117 
fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:be51952765ec 1 #include "AX12.h"
chris 0:be51952765ec 2 #include "mbed.h"
clynamen 14:4487db847117 3 #include <cmath>
ilaria 4:36f451ee0a3c 4 #define AX12_DEBUG 1
chris 0:be51952765ec 5
clynamen 14:4487db847117 6 AX12::AX12(communication_1& line, int ID, float gear_train)
clynamen 14:4487db847117 7 : MX(line, ID, gear_train) {
chris 0:be51952765ec 8 }
chris 0:be51952765ec 9
chris 1:93ad80f5fde7 10 // Set the mode of the servo
chris 1:93ad80f5fde7 11 // 0 = Positional (0-300 degrees)
chris 1:93ad80f5fde7 12 // 1 = Rotational -1 to 1 speed
clynamen 14:4487db847117 13 void AX12::setMode(int mode) {
clynamen 14:4487db847117 14 switch (mode) {
clynamen 14:4487db847117 15 //Wheel Mode
clynamen 14:4487db847117 16 case (0):
clynamen 14:4487db847117 17 setCWLimitUnits(0);
clynamen 14:4487db847117 18 setCCWLimitUnits(0);
clynamen 14:4487db847117 19 //setCRSpeed(0.0);
clynamen 14:4487db847117 20 break;
clynamen 14:4487db847117 21 //Joint Mode
clynamen 14:4487db847117 22 case (1):
clynamen 14:4487db847117 23 setCWLimit(360);
clynamen 14:4487db847117 24 setCCWLimit(360);
clynamen 14:4487db847117 25 //setCRSpeed(0.0);
clynamen 14:4487db847117 26 break;
clynamen 14:4487db847117 27 default:
clynamen 14:4487db847117 28 if (READ_DEBUG) {
clynamen 14:4487db847117 29 printf("Not valid mode for AX12");
clynamen 14:4487db847117 30 return;
clynamen 14:4487db847117 31 }
chris 0:be51952765ec 32 }
clynamen 14:4487db847117 33 _mode = mode;
chris 0:be51952765ec 34 }
chris 0:be51952765ec 35