use diffbot protocol version:

Author: yconst

include/tinymovr/can.hpp

@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <helpers.hpp>
+#include <tm_helpers.hpp>
 
 class Can_ : Node
 {
@@ -20,7 +20,5 @@ class Can_ : Node
         void set_rate(uint32_t value);
         uint32_t get_id(void);
         void set_id(uint32_t value);
-        bool get_heartbeat(void);
-        void set_heartbeat(bool value);
 
 };

include/tinymovr/comms.hpp

@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <helpers.hpp>
+#include <tm_helpers.hpp>
 #include <can.hpp>
 
 class Comms_ : Node

include/tinymovr/controller.hpp

@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <helpers.hpp>
+#include <tm_helpers.hpp>
 #include <position.hpp>
 #include <velocity.hpp>
 #include <current.hpp>

include/tinymovr/current.hpp

@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <helpers.hpp>
+#include <tm_helpers.hpp>
 
 class Current_ : Node
 {

include/tinymovr/commutation_sensor.hpp include/tinymovr/encoder.hppinclude/tinymovr/commutation_sensor.hpp renamed to include/tinymovr/encoder.hpp

@@ -8,20 +8,21 @@
 
 #pragma once
 
-#include <helpers.hpp>
+#include <tm_helpers.hpp>
 
-class Commutation_sensor_ : Node
+class Encoder_ : Node
 {
     public:
 
-        Commutation_sensor_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+        Encoder_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
             Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
-        uint8_t get_connection(void);
-        void set_connection(uint8_t value);
-        float get_bandwidth(void);
-        void set_bandwidth(float value);
-        int32_t get_raw_angle(void);
         float get_position_estimate(void);
         float get_velocity_estimate(void);
+        uint8_t get_type(void);
+        void set_type(uint8_t value);
+        float get_bandwidth(void);
+        void set_bandwidth(float value);
+        bool get_calibrated(void);
+        uint8_t get_errors(void);
 
 };

include/tinymovr/external_spi.hpp

@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <helpers.hpp>
+#include <tm_helpers.hpp>
 #include <stall_detect.hpp>
 
 class Homing_ : Node

include/tinymovr/hall.hpp

@@ -8,7 +8,7 @@
 
 #pragma once
 
-#include <helpers.hpp>
+#include <tm_helpers.hpp>
 
 class Motor_ : Node
 {
@@ -24,6 +24,10 @@ class Motor_ : Node
         void set_pole_pairs(uint8_t value);
         uint8_t get_type(void);
         void set_type(uint8_t value);
+        float get_offset(void);
+        void set_offset(float value);
+        int8_t get_direction(void);
+        void set_direction(int8_t value);
         bool get_calibrated(void);
         float get_I_cal(void);
         void set_I_cal(float value);