eagle_DynamixelBoard.h

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#ifndef EAGLE_EBOARD_HELPLIB_DYNAMIXELBOARD
    #define EAGLE_EBOARD_HELPLIB_DYNAMIXELBOARD

//=====================================================================================================================================================
//                                                                   Dynamixel-Board                                                                   
//=====================================================================================================================================================

    //-------------------------------------------------------------------------------------------------------------------------------------------------
    //                                                                    class                                                                        
    //-------------------------------------------------------------------------------------------------------------------------------------------------

    struct DynamixelBoard {
        inline DynamixelBoard(SoccerBoard&);
        //inline ~DynamixelBoard(void) {}
        #if EBOARD_USE_UTILITY > 0x0
            inline void changeId(optVAL_t);
            inline void changeMotorID(optVAL_t);
            inline void ledOn(optVAL_t);
            inline void ledOff(optVAL_t);
        #endif
        inline void action(void);

        friend struct AX12Servo;
    protected:
        AX12Servo* connected[EBOARD_SPI_SERVO_MAX];
    };

    //-------------------------------------------------------------------------------------------------------------------------------------------------
    //                                                                definitions                                                                      
    //-------------------------------------------------------------------------------------------------------------------------------------------------

    DynamixelBoard::DynamixelBoard(SoccerBoard&) {
        for(optVAL_t i = 0; i < EBOARD_SPI_SERVO_MAX; i++ ) {this->connected[i] = NULL;} //wanna use nullptr... wanna have c++11^^
    }

    //inline ~DynamixelBoard(void) {}
    #if EBOARD_USE_UTILITY > 0x0
        void DynamixelBoard::changeId(optVAL_t) {}
        void DynamixelBoard::changeMotorID(optVAL_t) {}
        void DynamixelBoard::ledOn(optVAL_t) {}
        void DynamixelBoard::ledOff(optVAL_t) {}
    #endif

    void DynamixelBoard::action(void) {
        for(optVAL_t i = 0; (i < EBOARD_SPI_SERVO_MAX && !STOP); i++ ){
            if(this->connected[i] != NULL)
                (*connected[i]).setPosition((*connected[i]).storedPos,(*connected[i]).storedSpe);
        }
    }

    void AX12Servo::storePosition(int pos, int speed){
        if(this->id < EBOARD_SPI_SERVO_MAX) _conBoard->connected[this->id] = this;
        this->storedPos=pos;this->storedSpe=speed;
    }

    AX12Servo::AX12Servo(DynamixelBoard &dBoard, optVAL_t servoID): _conBoard( &dBoard),id(servoID-1), actSpe(0x96) {
        //#if EBOARD_DEBUG_MODE > 0x0
        //    assert(servoID<EBOARD_SPI_SERVO_MAX);
        //#endif
    }

#endif