Diff: Axis.h

Revision:

7:d0458137d6e0

Parent:

5:79dcaa63700c

Child:

8:7e399d7c990d

--- a/Axis.h	Thu Dec 17 19:10:55 2015 +0000
+++ b/Axis.h	Thu May 19 12:41:53 2016 +0000
@@ -21,9 +21,9 @@
     void axisOn(void);
     void zero(void);
     
-    long enc;
-    float co;// = 0.0;
-    float Tdelay;// = .01;
+    long enc;       //used to return the data from the LS7366 encoder chip
+    float co;       // = 0.0;
+    float Tdelay;   // = .01;
     float Pk;       // 120.0 for scorbot
     float Ik;       // 55.0 for scorbot
     float Dk;
@@ -41,9 +41,11 @@
     int debug;
     int *ptr_limit;
     float totalCounts;
-    float motCurrent;
-    float mot_I_lim;
+    float motCurrent;   //motor current read from readCurrent() function
+    float mot_I_lim;    //max current limit
     int axisState;
+    int motInvert;
+    char dataFormat;    //'r'=radians (default), 'd'=degrees, 'e'=encoder counts
 
     Ticker update;
     Ticker moveProfile;