255 const bool GetFreedom() {
return freedom; }
const bool GetBlocked() {
return blocked; }
const bool GetNmp() {
return nmp; }
270 void sendAPS(
const TMotAPS* _aps);
void sendTPS(
const TMotTPS* _tps);
void sendSCP(
const TMotSCP* _scp);
void sendDYL(
const TMotDYL* _dyl);
279 void recvPVP();
void recvSCP();
void recvDYL();
void recvSFW();
296 void setTPSP(
int tar);
297 void setTPSPDegrees(
double tar);
void resetTPSP();
304 void setInitialParameters(
double angleOffset,
double angleRange,
int encodersPerCycle,
int encoderOffset,
int rotationDirection);
305 void setCalibrationParameters(
bool doCalibration,
short order,
TSearchDir direction,
TMotCmdFlg motorFlagAfter,
int encoderPositionAfter);
306 void setCalibrated(
bool calibrated);
308 void setTolerance(
int tolerance);
312 bool checkAngleInRange(
double angle);
313 bool checkEncoderInRange(
int encoder);
317 void inc(
int dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
320 void dec(
int dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
323 void mov(
int tar,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
327 void waitForMotor(
int tar,
int encTolerance = 100,
short mode = 0,
int waitTimeout =
TM_ENDLESS);
331 void incDegrees(
double dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
334 void decDegrees(
double dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
337 void movDegrees(
double tar,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
347 void sendSpline(
short targetPosition,
short duration,
short p1,
short p2,
short p3,
short p4);
353 void sendFourSplines(
short targetPosition,
short duration, std::vector<short>& coefficients);
358 void setSpeedLimits(
short positiveVelocity,
short negativeVelocity);
363 void setAccelerationLimit(
short acceleration );
367 void setPwmLimits(
byte maxppwm,
byte maxnpwm);
371 void setControllerParameters(
byte kSpeed,
byte kPos,
byte kI);
377 void setCrashLimitLinear(
int limit_lin);
389 void getParameterOrLimit(
int subcommand,
byte* R1,
byte* R2,
byte* R3);