diff options
Diffstat (limited to 'src/drivers/roboclaw/RoboClaw.hpp')
| -rw-r--r-- | src/drivers/roboclaw/RoboClaw.hpp | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/src/drivers/roboclaw/RoboClaw.hpp b/src/drivers/roboclaw/RoboClaw.hpp index 619c2289c..e9f35cf95 100644 --- a/src/drivers/roboclaw/RoboClaw.hpp +++ b/src/drivers/roboclaw/RoboClaw.hpp @@ -74,8 +74,11 @@ public: * serial port e.g. "/dev/ttyS2" * @param address the adddress of the motor * (selectable on roboclaw) + * @param pulsesPerRev # of encoder + * pulses per revolution of wheel */ - RoboClaw(const char *deviceName, uint16_t address); + RoboClaw(const char *deviceName, uint16_t address, + uint16_t pulsesPerRev); /** * deconstructor @@ -112,7 +115,7 @@ public: * main update loop that updates RoboClaw motor * dutycycle based on actuator publication */ - void update(); + int update(); /** * read data from serial @@ -158,6 +161,7 @@ private: static uint8_t checksum_mask; uint16_t _address; + uint16_t _pulsesPerRev; int _uart; @@ -182,6 +186,7 @@ private: }; // unit testing -int roboclawTest(const char *deviceName, uint8_t address); +int roboclawTest(const char *deviceName, uint8_t address, + uint16_t pulsesPerRev); // vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78 |