Team DIANA / MX106_not_working

A lot of change

Dependents:   MX106-finaltest dynamixel Arm_dynamixel_can Arm_dynamixel_can_procedurale

MX106.h@0:8fda718cb527, 2016-05-23 (annotated)

Committer:
dconsoli
Date:
Mon May 23 02:18:19 2016 +0000
Revision:
0:8fda718cb527
Child:
1:555b9b4a1ecd
A lot of change

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"
dconsoli 0:8fda718cb527 6 #include "cominication_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
dconsoli 0:8fda718cb527 22 MX106(int ID, comunication_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);
dconsoli 0:8fda718cb527 29
dconsoli 0:8fda718cb527 30 int GoalPosition(float degrees);
dconsoli 0:8fda718cb527 31
dconsoli 0:8fda718cb527 32 int SetSpeed(float goal_speed);
dconsoli 0:8fda718cb527 33
dconsoli 0:8fda718cb527 34 float GetTemperature(void);
dconsoli 0:8fda718cb527 35
dconsoli 0:8fda718cb527 36 private:
dconsoli 0:8fda718cb527 37
dconsoli 0:8fda718cb527 38 float _gear_train;
dconsoli 0:8fda718cb527 39 comunication_1 _line;
dconsoli 0:8fda718cb527 40 int _ID;
dconsoli 0:8fda718cb527 41 int _mode;
dconsoli 0:8fda718cb527 42 };