AECL 601 / Mbed 2 deprecated 3WOK_8dir_1m_PD_p2pcontrol_0710

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Dependencies:   3W_8Dir_p2pcontrol mbed

Fork of DXL_SDK_For_F446RE by hsu han-lin

Files at this revision

API Documentation at this revision

Revision 4:44560391db99, committed 2017-02-08

Comitter:
stanley1228
Date:
Wed Feb 08 15:49:35 2017 +0800
Parent:
3:e2e9064c668d
Child:
5:edccfcb47ab8
Commit message:
add ROM parameter setting to limit torque=55,multiturn offset=-1024,multiturn mode

Changed in this revision

dynamixel.cpp Show annotated file Show diff for this revision Revisions of this file
dynamixel.h Show annotated file Show diff for this revision Revisions of this file 
--- a/dynamixel.cpp	Wed Feb 08 12:26:30 2017 +0800
+++ b/dynamixel.cpp	Wed Feb 08 15:49:35 2017 +0800
@@ -334,7 +334,7 @@
     //pc.printf("after dxl_txrx_packet\n",id,address,value);//stanley
 }
 
-int dxl_read_word( int id, int address )
+int dxl_read_word( short int id, short int address )
 {
     while(giBusUsing);
 
@@ -349,7 +349,7 @@
     return dxl_makeword((int)gbStatusPacket[PARAMETER], (int)gbStatusPacket[PARAMETER+1]);
 }
 
-void dxl_write_word( int id, int address, int value )
+void dxl_write_word( short int id, short int address, short int value )
 {
     while(giBusUsing);
 

--- a/dynamixel.h	Wed Feb 08 12:26:30 2017 +0800
+++ b/dynamixel.h	Wed Feb 08 15:49:35 2017 +0800
@@ -66,33 +66,33 @@
 
 
 //MX64 Register stanley///
+#define ID_ADDRESS        3
 #define GOAL_POSITION     30
 #define PRESENT_POS       36
-#define ID_ADDRESS        3
+#define RETURN_DELAY_TIME	5
 #define CW_ANGLE_LIMIT_L  6
 #define CW_ANGLE_LIMIT_H  7
 #define CCW_ANGLE_LIMIT_L 8
 #define CCW_ANGLE_LIMIT_H 9
-#define MOVING			46
-#define XL_MOVING		49
+#define MAX_TORQUE			14
+#define MULTITURN_OFFSET	20
 #define GOAL_POSITION	30
+#define GOAL_SPEED		32
+#define TORQUE_LIMIT	34
 #define PRESENT_POS		36
-#define ID_ADDRESS		3
-#define MOVING			46
-#define XL_MOVING		49
-#define CW_ANGLE_LIMIT_L  6
-#define CW_ANGLE_LIMIT_H  7
-#define CCW_ANGLE_LIMIT_L 8
-#define CCW_ANGLE_LIMIT_H 9
-#define ADDRESS_LED 0x19
+
+#define STILL_MOVING	46
+
+
+#define ADDRESS_LED 25
 
 
 //////////// high communication methods ///////////////////////
 void dxl_ping( int id );
 int dxl_read_byte( int id, int address );
 void dxl_write_byte( int id, int address, int value );
-int dxl_read_word( int id, int address );
-void dxl_write_word( int id, int address, int value );
+int dxl_read_word( short int id, short int address );
+void dxl_write_word( short int id, short int address, short int value );
 int syncWrite_u16base(short int start_addr, short int data_length, short int *param, short int param_length); // WORD(16bit) syncwrite() for DXL
 void setPosition(int ServoID, int Position, int Speed);//stanley