instructions.h

#ifndef __INSTRUCTIONS_H__
#define __INSTRUCTIONS_H__
 
#include <SerialTalking.h>
#include <AX12.h>
#include <ESP32Servo.h>
 
#define RESET_OPCODE 0X12
 
#define PING_AX_OPCODE 0X13
 
#define SET_ID_OPCODE 0X14
#define SET_BD_OPCODE 0X15
 
#define MOVE_OPCODE 0X16
#define MOVE_SPEED_OPCODE 0X17
#define TURN_OPCODE 0x18
 
#define SET_ENDLESS_MODE_OPCODE 0X19
 
#define SET_TEMP_LIMIT_OPCODE 0X1A
#define SET_ANGLE_LIMIT_OPCODE 0X1B
#define SET_VOLTAGE_LIMIT_OPCODE 0X1C
#define SET_MAX_TORQUE_OPCODE 0X1D
 
#define READ_POSITION_OPCODE 0X1E
#define READ_SPEED_OPCODE 0X1F
#define READ_TORQUE_OPCODE 0X2A
 
#define SET_ANGLE_SERVO_OPCODE 0x2B
 
void RESET();
 
void PING_AX();
 
void SET_ID();
void SET_BD();
 
void MOVE();
void MOVE_SPEED();
void TURN();
 
void SET_ENDLESS_MODE();
void SET_TEMP_LIMIT();
void SET_ANGLE_LIMIT();
void SET_VOLTAGE_LIMIT();
void SET_MAX_TORQUE();
 
void READ_POSITION();
void READ_SPEED();
void READ_TORQUE();
 
void SET_ANGLE_SERVO();
 
#endif //__INSTRUCTIONS_H__