AX12.h

00001 /* mbed AX-12+ Servo Library
00002  *
00003  * Copyright (c) 2010, cstyles (http://mbed.org)
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  */
00023 
00024 #ifndef MBED_AX12_H
00025 #define MBED_AX12_H
00026 
00027 #include "mbed.h"
00028 
00029 #define abs(x) (x<0?-x:x)
00030 
00031 //#define AX12_WRITE_DEBUG 0
00032 //#define AX12_READ_DEBUG 0
00033 //#define AX12_TRIGGER_DEBUG 0
00034 //#define AX12_DEBUG
00035 
00036 #define AX12_REG_ID 0x3
00037 #define AX12_REG_BAUD 0x4
00038 #define AX12_REG_CW_LIMIT 0x06
00039 #define AX12_REG_CCW_LIMIT 0x08
00040 #define AX12_REG_GOAL_POSITION 0x1E
00041 #define AX12_REG_MOVING_SPEED 0x20
00042 #define AX12_REG_VOLTS 0x2A
00043 #define AX12_REG_TEMP 0x2B
00044 #define AX12_REG_MOVING 0x2E
00045 #define AX12_REG_POSITION 0x24
00046 
00047 #define AX12_MODE_POSITION  0
00048 #define AX12_MODE_ROTATION  1
00049 
00050 #define AX12_CW 1
00051 #define AX12_CCW 0
00052 
00053 #/** Servo control class, based on a PwmOut
00054  *
00055  * Example:
00056  * @code
00057  * #include "mbed.h"
00058  * #include "AX12.h"
00059  * 
00060  * int main() {
00061  * 
00062  *   AX12 myax12 (p9, p10, 1);
00063  *
00064  *   while (1) {
00065  *       myax12.SetGoal(0);    // go to 0 degrees
00066  *       wait (2.0);
00067  *       myax12.SetGoal(300);  // go to 300 degrees
00068  *       wait (2.0);
00069  *   }
00070  * }
00071  * @endcode
00072  */
00073 class AX12 {
00074 
00075 public:
00076 
00077     /** Create an AX12 servo object connected to the specified serial port, with the specified ID
00078      *
00079      * @param pin tx pin
00080      * @param pin rx pin 
00081      * @param int ID, the Bus ID of the servo 1-255 
00082      */
00083     AX12(PinName tx, PinName rx, int ID, int baud=1000000);
00084 
00085     /** Set the mode of the servo
00086      * @param mode
00087      *    0 = Positional, default
00088      *    1 = Continuous rotation
00089      */
00090     int setMode(int mode);
00091 
00092     /** Set baud rate of all attached servos
00093      * @param mode
00094      *    0x01 = 1,000,000 bps
00095      *    0x03 =   500,000 bps
00096      *    0x04 =   400,000 bps
00097      *    0x07 =   250,000 bps
00098      *    0x09 =   200,000 bps
00099      *    0x10 =   115,200 bps
00100      *    0x22 =    57,600 bps
00101      *    0x67 =    19,200 bps
00102      *    0xCF =     9,600 bp
00103      */
00104     int setBaud(int baud);
00105 
00106 
00107     /** Set goal angle in integer degrees, in positional mode
00108      *
00109      * @param degrees 0-300
00110      * @param flags, defaults to 0
00111      *    flags[0] = blocking, return when goal position reached 
00112      *    flags[1] = register, activate with a broadcast trigger
00113      *
00114      */
00115     int setGoal(int degrees, int flags = 0);
00116     
00117     /** Get goal angle (internal, not from the AX12)
00118      *
00119      */
00120      
00121      int getGoal(){return _goal;}
00122     
00123     
00124     /** Set the torque limit of the servo
00125      *
00126      * @param maxTorque, 0-1024
00127      */
00128     int setMaxTorque(int maxTorque);
00129 
00130 
00131     /** Set the speed of the servo in continuous rotation mode
00132      *
00133      * @param speed, -1.0 to 1.0
00134      *   -1.0 = full speed counter clock wise
00135      *    1.0 = full speed clock wise
00136      */
00137     int setCRSpeed(float speed);
00138 
00139 
00140     /** Set the clockwise limit of the servo
00141      *
00142      * @param degrees, 0-300
00143      */
00144     int setCWLimit(int degrees);
00145     
00146     /** Set the counter-clockwise limit of the servo
00147      *
00148      * @param degrees, 0-300
00149      */
00150     int setCCWLimit(int degrees);
00151 
00152     // Change the ID
00153 
00154     /** Change the ID of a servo
00155      *
00156      * @param CurentID 1-255
00157      * @param NewID 1-255
00158      *
00159      * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
00160      * In this situation, only one servo should be connected to the bus
00161      */
00162     int setID(int CurrentID, int NewID);
00163 
00164 
00165     /** Poll to see if the servo is moving
00166      *
00167      * @returns true is the servo is moving
00168      */
00169     int isMoving(void);
00170 
00171     /** Send the broadcast "trigger" command, to activate any outstanding registered commands
00172      */
00173     void trigger(void);
00174 
00175     /** Read the current angle of the servo
00176      *
00177      * @returns float in the range 0.0-300.0
00178      */
00179     float getPosition();
00180 
00181     /** Read the temperature of the servo
00182      *
00183      * @returns float temperature 
00184      */
00185     float getTemp(void);
00186 
00187     /** Read the supply voltage of the servo
00188      *
00189      * @returns float voltage
00190      */
00191     float getVolts(void);
00192 
00193     int read(int ID, int start, int length, char* data);
00194     int write(int ID, int start, int length, char* data, int flag=0);
00195 
00196 private :
00197 
00198     Serial _ax12;
00199     int _ID;
00200     int _baud;
00201     int _goal;
00202 
00203 };
00204 
00205 #endif