Team DIANA / dynamixel

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Dependencies:   AX12_final MX106_not_working comunication_1 mbed-dev

Fork of MX106-finaltest by Team DIANA

Joint.h@12:6ac3cac5677c, 2016-11-24 (annotated)

Committer:
clynamen
Date:
Thu Nov 24 15:29:50 2016 +0000
Revision:
12:6ac3cac5677c
Parent:
11:19e8022f60ea 
dynamixel

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 11:19e8022f60ea 11 virtual int getID() = 0;
clynamen 10:2acfa1a84c96 12 // TODO: use enum instead of int
clynamen 10:2acfa1a84c96 13 virtual void setMode(int mode) = 0;
clynamen 10:2acfa1a84c96 14 virtual void setCWLimit(float degrees) = 0;
clynamen 10:2acfa1a84c96 15 virtual void setCCWLimit(float degrees) = 0;
clynamen 10:2acfa1a84c96 16 virtual void setGoalPosition(float degrees) = 0;
clynamen 10:2acfa1a84c96 17 virtual float getPosition() = 0;
clynamen 11:19e8022f60ea 18 virtual void setSpeed(float degreesS) = 0;
clynamen 11:19e8022f60ea 19 virtual void setMaxSpeed(float degreeS) = 0;
clynamen 10:2acfa1a84c96 20 virtual float getTemp() = 0;
clynamen 10:2acfa1a84c96 21 virtual float getVolts() = 0;
clynamen 10:2acfa1a84c96 22 virtual float getCurrent () = 0;
clynamen 10:2acfa1a84c96 23 virtual void setMaxTorque(float torque) = 0 ;
clynamen 10:2acfa1a84c96 24 virtual void setMotorEnabled(bool enabled) = 0;
clynamen 10:2acfa1a84c96 25 virtual bool isMoving() = 0;
clynamen 10:2acfa1a84c96 26 };
clynamen 10:2acfa1a84c96 27
clynamen 10:2acfa1a84c96 28 #endif