Diff: Joint.h

Revision:

10:2acfa1a84c96

Child:

11:19e8022f60ea

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Joint.h	Sat Jul 02 18:06:59 2016 +0000
@@ -0,0 +1,29 @@
+#include "communication_1/communication_1.h"
+
+#ifndef JOINT_H
+#define JOINT_H
+
+class Joint
+{
+    public:
+    virtual ~Joint() {};
+    virtual void setID(int NewID) = 0;
+    // TODO: use enum instead of int
+    virtual void setMode(int mode) = 0; 
+    virtual void setCWLimit(float degrees) = 0;
+    virtual void setCCWLimit(float degrees) = 0;
+    virtual void setGoalPosition(float degrees) = 0;
+    virtual float getPosition() = 0;
+    virtual void setSpeed(float goal_speed) = 0;
+    virtual float getTemp() = 0;
+    virtual float getVolts() = 0;
+    virtual float getCurrent () = 0;
+    virtual float getPGain () = 0;
+    virtual float getIGain () = 0;
+    virtual float getDGain() = 0;
+    virtual void setMaxTorque(float torque) = 0 ;
+    virtual void setMotorEnabled(bool enabled) = 0;
+    virtual bool isMoving() = 0;
+};
+
+#endif