Diff: MX106.cpp

Revision:

3:adeaefc32a41

Parent:

2:6722a00e6184

--- a/MX106.cpp	Sun Jun 26 21:46:29 2016 +0000
+++ b/MX106.cpp	Sat Jul 02 18:01:01 2016 +0000
@@ -1,6 +1,7 @@
 #include "MX106.h"
 #include "mbed.h"
 #include "communication_1.h"
+#include <cmath>
 //360°/4095
 #define RESOLUTION 0.088
 //bit per degrees 4095/360°
@@ -8,132 +9,6 @@
 
 #define READ_DEBUG 1
 
-MX106::MX106(int ID, communication_1& line, float gear_train) : _line(line) {
-    _gear_train = gear_train;
-    _ID = ID;
-}
-
-
-int MX106::SetMode(int mode) {
-    switch (mode){
-        //Wheel Mode
-        case (0): 
-            SetCWLimit(0);
-            SetCCWLimit(0);
-            SetCRSpeed(0.0);
-            _mode = mode; 
-            break;
-        //Joint Mode
-        case (1): 
-            SetCWLimit(RESOLUTION);
-            SetCCWLimit(RESOLUTION);
-            SetCRSpeed(0.0);
-            _mode = mode;
-            break;
-        //Multi-turn Mode 
-        case (2): 
-            SetCWLimit(360);
-            SetCCWLimit(360);
-            SetCRSpeed(0.0);
-            _mode = mode;
-            break;
-        //other cases
-        default: 
-            if(READ_DEBUG){
-            printf("Not valid mode"); 
-            }   
-    }
-    return(0);
-}
-
-
-int MX106::SetCWLimit(float degrees) {
-     
-    char data[2];
-    
-    short limit = (short)(BIT_DEG * degrees * _gear_train);
-
-    data[0] = limit & 0xff; // bottom 8 bits
-    data[1] = limit >> 8;   // top 8 bits
-
-    // write the packet, return the error code
-    return(_line.write(_ID, REG_CW_LIMIT, 2, data));
+MX106::MX106(communication_1& line, int ID, float gear_train) : MX(line, ID, gear_train) {
 }
 
-int MX106::SetCCWLimit (float degrees) {
-
-    char data[2];
-    
-    //TODO: review this
-    short limit = (short)(BIT_DEG * degrees * _gear_train);
-
-
-    data[0] = limit & 0xff; // bottom 8 bits
-    data[1] = limit >> 8;   // top 8 bits
-
-    // write the packet, return the error code
-    return (_line.write(_ID, REG_CCW_LIMIT, 2, data));
-}
-
-int MX106::GoalPosition(float degrees) {
-    
-    char data[2];
-    
-    short gaol_position = (short)(BIT_DEG * degrees * _gear_train);
-
-    data[0] = gaol_position & 0xff; // bottom 8 bits
-    data[1] = gaol_position >> 8;   // top 8 bits
-
-    // write the packet, return the error code
-    return(_line.write(_ID, REG_GOAL_POSITION, 2, data));
-}
-
-
-int MX106::SetSpeed(float goal_speed) {
-
-    // bit 10     = direction, 0 = CCW, 1=CW
-    // bits 9-0   = Speed
-    char data[2];
-
-    int goal = (0x3ff * abs(goal_speed * _gear_train));
-
-    // Set direction CW if we have a negative speed
-    if (goal_speed < 0) {
-        goal |= (0x1 << 10);
-    }
-
-    data[0] = goal & 0xff; // bottom 8 bits
-    data[1] = goal >> 8;   // top 8 bits
-    
-    // write the packet, return the error code
-    return(_line.write(_ID, REG_MOVING_SPEED, 2, data));
-}
-int MX106::SetCRSpeed(float speed) {
-
-    // bit 10     = direction, 0 = CCW, 1=CW
-    // bits 9-0   = Speed
-    char data[2];
-
-    int goal = (0x3ff * abs(speed));
-
-    // Set direction CW if we have a negative speed
-    if (speed < 0) {
-        goal |= (0x1 << 10);
-    }
-
-    data[0] = goal & 0xff; // bottom 8 bits
-    data[1] = goal >> 8;   // top 8 bits
-    
-    // write the packet, return the error code
-    int rVal = _line.write( _ID, 0x20, 2, data);
-
-    return(rVal);
-}
-
-
-float MX106::GetTemp(void) {
-    char data[1];
-    int ErrorCode = _line.read( _ID, REG_TEMP, 1, data);
-    float temp = data[0];
-    return(temp);
-}