Diff: MX.h

Revision:

11:19e8022f60ea

Parent:

10:2acfa1a84c96

--- a/MX.h	Sat Jul 02 18:06:59 2016 +0000
+++ b/MX.h	Wed Jul 13 15:53:34 2016 +0000
@@ -61,13 +61,18 @@
     MX(communication_1& line, int ID, float gear_train);
     virtual ~MX();
     void setID(int newID);
+    int getID();
 
     /** Set the mode of the servo
      * @param mode
      *    0 = Positional, default
      *    1 = Continuous rotation
      */
-    void setMode(int mode);
+    virtual void setMode(int mode);
+
+    void setCWLimitUnits(short limit);
+    void setCCWLimitUnits(short limit);
+
     /** Set the clockwise limit of the servo
      *
      * @param degrees, 0-300
@@ -78,13 +83,15 @@
      * @param degrees, 0-300
      */
     void setCCWLimit(float degrees);
+
     /** Set the speed of the servo in continuous rotation mode
      *
      * @param speed, -1.0 to 1.0
      *   -1.0 = full speed counter clock wise
      *    1.0 = full speed clock wise
      */
-    void setCRSpeed(float speed);
+    //void setCRSpeed(float speed);
+    //
     void setGoalPosition(float degrees);
     float getPosition();
 
@@ -97,13 +104,18 @@
      *
      */
     int setGoal(float degrees, int flags = 0);
-    void setSpeed(float goal_speed);
+    void setMaxSpeed(float degreeS);
+    void setCRSpeed(float degreeS);
+    void setSpeed(float degreeS);
     float getTemp();
     float getCurrent();
     float getVolts();
-    float getPGain();
-    float getIGain();
-    float getDGain();
+    virtual float getPGain();
+    virtual float getIGain();
+    virtual float getDGain();
+    virtual void setPGain(float gain);
+    virtual void setIGain(float gain);
+    virtual void setDGain(float gain);
     void setMaxTorque(float torque);
     void setMotorEnabled(bool enabled);
     bool isMoving();
@@ -113,6 +125,9 @@
     float _gear_train;
     int _ID;
     int _mode;
+    float maxSpeedDegreeS;
+    float limitCWDegrees;
+    float limitCCWDegrees;;
 };
 
 #endif