Diff: MDX20.h

Revision:

6:b61356230acf

Parent:

5:bd414d8e483f

Child:

8:e65e532d1933

--- a/MDX20.h	Sat Nov 26 06:41:51 2016 +0000
+++ b/MDX20.h	Sun Nov 27 12:14:47 2016 +0000
@@ -3,7 +3,7 @@
 
 #include "mbed.h"
 #include "BufferedSerial.h"
-#include "float.h"
+#include "limits.h"
 class MDX20
 {
 public:
@@ -15,6 +15,7 @@
     void answerPositon(int16_t *position);
     void answerPositonMillimeter(float *position);
     void integralPosition(char *str);
+    void userOriginPositionInitial(void);
 
     uint8_t xyOrigin(void);
     uint8_t zOrigin(void);
@@ -26,21 +27,33 @@
     int putc(int c);
     uint8_t initial(void);
     uint8_t motorOff(void);
+    uint8_t motorOn(void);
+
 
     uint8_t userOriginInitial(void);
 
     uint8_t final(void);
 //    uint8_t zeroSetting(void);
     uint8_t XYZMove(int16_t x, int16_t y, int16_t z);
+    void offsetXAxisAdjustment(int16_t axisData);
+    void offsetYAxisAdjustment(int16_t axisData);
+    void offsetZAxisAdjustment(int16_t axisData);
+
+    int32_t motorStateCheck(void);
+
 
 private:
 
     BufferedSerial _serial; // tx, rx(NC)
     DigitalIn _cts;
 
+    void translationToControlerAxisMoveDataFromRMLAxisMoveData(char *str);
+
+
     char B_masterTx[0xff];
-    double D_position[3]; //[0]:x, [1]:y, [2]:z
-    double D_userOriginPosition[3]; //[0]:x, [1]:y, [2]:z
+    int16_t D_position[3]; //[0]:x, [1]:y, [2]:z
+    int16_t D_userOriginPosition[3]; //[0]:x, [1]:y, [2]:z
+    int32_t motorState; // true:ON false:OFF
 
 #define countToMillimeter (0.025)
 #define Z_x (0)