Team DIANA / MX106_not_working

A lot of change

Dependents:   MX106-finaltest dynamixel Arm_dynamixel_can Arm_dynamixel_can_procedurale

MX106.h@2:6722a00e6184, 2016-06-26 (annotated)

Committer:
clynamen
Date:
Sun Jun 26 21:46:29 2016 +0000
Revision:
2:6722a00e6184
Parent:
1:555b9b4a1ecd
Child:
3:adeaefc32a41
fixed errors;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dconsoli 0:8fda718cb527 1 #ifndef MBED_MX106_H
dconsoli 0:8fda718cb527 2 #define MBED_MX106_H
dconsoli 0:8fda718cb527 3
dconsoli 0:8fda718cb527 4 #include "mbed.h"
dconsoli 0:8fda718cb527 5 #include "SerialHalfDuplex.h"
mattiasub 1:555b9b4a1ecd 6 #include "communication_1.h"
dconsoli 0:8fda718cb527 7
dconsoli 0:8fda718cb527 8 #define REG_ID 0x3
dconsoli 0:8fda718cb527 9 #define REG_CW_LIMIT 0x06
dconsoli 0:8fda718cb527 10 #define REG_CCW_LIMIT 0x08
dconsoli 0:8fda718cb527 11 #define REG_GOAL_POSITION 0x1E
dconsoli 0:8fda718cb527 12 #define REG_MOVING_SPEED 0x20
dconsoli 0:8fda718cb527 13 #define REG_VOLTS 0x2A
dconsoli 0:8fda718cb527 14 #define REG_TEMP 0x2B
dconsoli 0:8fda718cb527 15 #define REG_MOVING 0x2E
dconsoli 0:8fda718cb527 16 #define REG_POSITION 0x24
dconsoli 0:8fda718cb527 17
dconsoli 0:8fda718cb527 18 class MX106 {
dconsoli 0:8fda718cb527 19
dconsoli 0:8fda718cb527 20 public:
dconsoli 0:8fda718cb527 21
clynamen 2:6722a00e6184 22 MX106(int ID, communication_1& _line, float gear_train);
dconsoli 0:8fda718cb527 23
dconsoli 0:8fda718cb527 24 int SetMode(int mode);
dconsoli 0:8fda718cb527 25
dconsoli 0:8fda718cb527 26 int SetCWLimit(float degrees);
dconsoli 0:8fda718cb527 27
dconsoli 0:8fda718cb527 28 int SetCCWLimit(float degrees);
clynamen 2:6722a00e6184 29
clynamen 2:6722a00e6184 30 int SetCRSpeed(float speed);
clynamen 2:6722a00e6184 31
dconsoli 0:8fda718cb527 32
dconsoli 0:8fda718cb527 33 int GoalPosition(float degrees);
clynamen 2:6722a00e6184 34
clynamen 2:6722a00e6184 35 float GetTemp(void);
dconsoli 0:8fda718cb527 36 int SetSpeed(float goal_speed);
dconsoli 0:8fda718cb527 37
dconsoli 0:8fda718cb527 38 float GetTemperature(void);
dconsoli 0:8fda718cb527 39
dconsoli 0:8fda718cb527 40 private:
dconsoli 0:8fda718cb527 41
dconsoli 0:8fda718cb527 42 float _gear_train;
clynamen 2:6722a00e6184 43 communication_1& _line;
dconsoli 0:8fda718cb527 44 int _ID;
dconsoli 0:8fda718cb527 45 int _mode;
dconsoli 0:8fda718cb527 46 };
mattiasub 1:555b9b4a1ecd 47 #endif