23 lines
613 B
C
23 lines
613 B
C
#ifndef FUNCTIONS_H
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#define FUNCTIONS_H
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void Begin(uint32_t baud);
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void Ping(int identification);
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void Scan();
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void Joint(uint8_t id, uint16_t goal);
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void Wheel(uint8_t id, int32_t goal);
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void Torque_on(uint8_t id);
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void Torque_off(uint8_t id);
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void Write(uint8_t id, uint32_t value, String commande);
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int32_t Read(uint8_t id, String commande);
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void Led(uint8_t id, bool state);
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void TorqueOffAll();
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void OffsetAxe(uint8_t id, int offset);
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void LimiteSwitch();
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void HomingAxis(uint8_t id, int speed);
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uint8_t getIdFromChar(char letter);
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bool isInRange(int curPos, int goal);
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void resetMovingVariables();
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#endif
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