Team DIANA / dynamixel

d

Dependencies:   AX12_final MX106_not_working comunication_1 mbed-dev

Fork of MX106-finaltest by Team DIANA

Joint.h@10:2acfa1a84c96, 2016-07-02 (annotated)

Committer:
clynamen
Date:
Sat Jul 02 18:06:59 2016 +0000
Revision:
10:2acfa1a84c96
Child:
11:19e8022f60ea
use MX base class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
clynamen 10:2acfa1a84c96 1 #include "communication_1/communication_1.h"
clynamen 10:2acfa1a84c96 2
clynamen 10:2acfa1a84c96 3 #ifndef JOINT_H
clynamen 10:2acfa1a84c96 4 #define JOINT_H
clynamen 10:2acfa1a84c96 5
clynamen 10:2acfa1a84c96 6 class Joint
clynamen 10:2acfa1a84c96 7 {
clynamen 10:2acfa1a84c96 8 public:
clynamen 10:2acfa1a84c96 9 virtual ~Joint() {};
clynamen 10:2acfa1a84c96 10 virtual void setID(int NewID) = 0;
clynamen 10:2acfa1a84c96 11 // TODO: use enum instead of int
clynamen 10:2acfa1a84c96 12 virtual void setMode(int mode) = 0;
clynamen 10:2acfa1a84c96 13 virtual void setCWLimit(float degrees) = 0;
clynamen 10:2acfa1a84c96 14 virtual void setCCWLimit(float degrees) = 0;
clynamen 10:2acfa1a84c96 15 virtual void setGoalPosition(float degrees) = 0;
clynamen 10:2acfa1a84c96 16 virtual float getPosition() = 0;
clynamen 10:2acfa1a84c96 17 virtual void setSpeed(float goal_speed) = 0;
clynamen 10:2acfa1a84c96 18 virtual float getTemp() = 0;
clynamen 10:2acfa1a84c96 19 virtual float getVolts() = 0;
clynamen 10:2acfa1a84c96 20 virtual float getCurrent () = 0;
clynamen 10:2acfa1a84c96 21 virtual float getPGain () = 0;
clynamen 10:2acfa1a84c96 22 virtual float getIGain () = 0;
clynamen 10:2acfa1a84c96 23 virtual float getDGain() = 0;
clynamen 10:2acfa1a84c96 24 virtual void setMaxTorque(float torque) = 0 ;
clynamen 10:2acfa1a84c96 25 virtual void setMotorEnabled(bool enabled) = 0;
clynamen 10:2acfa1a84c96 26 virtual bool isMoving() = 0;
clynamen 10:2acfa1a84c96 27 };
clynamen 10:2acfa1a84c96 28
clynamen 10:2acfa1a84c96 29 #endif