Team DIANA / dynamixel

d

Dependencies:   AX12_final MX106_not_working comunication_1 mbed-dev

Fork of MX106-finaltest by Team DIANA

Diff: MX.cpp

Revision:
12:6ac3cac5677c
Parent:
11:19e8022f60ea
--- a/MX.cpp	Wed Jul 13 15:53:34 2016 +0000
+++ b/MX.cpp	Thu Nov 24 15:29:50 2016 +0000
@@ -1,6 +1,6 @@
 #include "MX.h"
 
-#include <cmath>
+#include <math.h>
 
 #define MOVING_SPEED_UNIT_RPM 0.114
 
@@ -251,6 +251,10 @@
   this->maxSpeedDegreeS = maxSpeedDegreeS;
 }
 
+int min(int a, int b) {
+    if(a < b) return a; else return b;
+}
+
 void MX::setCRSpeed(float goalSpeedDegreeS) {
     // bit 10     = direction, 0 = CCW, 1=CW
     // bits 9-0   = Speed
@@ -258,7 +262,7 @@
 
     float rpm = std::abs(goalSpeedDegreeS * _gear_train) / 360 * 60;
     int goal = rpm / MOVING_SPEED_UNIT_RPM;
-    goal = fmin(goal, 0x3ff);
+    goal = min(goal, 0x3ff);
 
     // Set direction CW if we have a negative speed
     if (goalSpeedDegreeS < 0) {