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Diff: AX12/AX12.cpp
- Revision:
- 85:38cbf5fd22e1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12/AX12.cpp Fri May 06 09:49:01 2016 +0200
@@ -0,0 +1,570 @@
+/* mbed AX-12+ Servo Library
+ *
+ * Copyright (c) 2010, cstyles (http://mbed.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "AX12.h"
+#include "mbed.h"
+
+extern Serial logger;
+
+AX12::AX12(PinName tx, PinName rx, int ID, int baud)
+ : _ax12(tx,rx) {
+ _baud = baud;
+ _ID = ID;
+ _ax12.baud(_baud);
+
+}
+
+// set the mode of the servo
+// 0 = Positional (0-300 degrees)
+// 1 = Rotational -1 to 1 speed
+int AX12::setMode(int mode) {
+
+ if (mode == 1) { // set CR
+ setCWLimit(0);
+ setCCWLimit(0);
+ setCRSpeed(0.0);
+ } else {
+ setCWLimit(0);
+ setCCWLimit(300);
+ setCRSpeed(0.0);
+ }
+ return(0);
+}
+
+
+// if flag[0] is set, were blocking
+// if flag[1] is set, we're registering
+// they are mutually exclusive operations
+int AX12::setGoal(int degrees, int flags) {
+
+ char reg_flag = 0;
+ char data[2];
+ _goal = degrees;
+
+ // set the flag is only the register bit is set in the flag
+ if (flags == 0x2) {
+ reg_flag = 1;
+ }
+
+ // 1023 / 300 * degrees
+ short goal = (1023 * degrees) / 300;
+#ifdef AX12_DEBUG
+ logger.printf("setGoal to 0x%x\n",goal);
+#endif
+
+ data[0] = goal & 0xff; // bottom 8 bits
+ data[1] = goal >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
+
+ if (flags == 1) {
+ // block until it comes to a halt
+ while (isMoving()) {}
+ }
+ return(rVal);
+}
+
+int AX12::setMaxTorque(int maxTorque)
+{
+ char data[2];
+
+ data[0] = maxTorque & 0xFF;
+ data[1] = maxTorque >> 8;
+
+ // write the packet, return the error code
+ int rVal = write(_ID, 0x22, 2, data);
+
+ return(rVal);
+}
+
+int AX12::setSpeed(int speed)
+{
+ char data[2];
+
+ data[0] = speed & 0xFF;
+ data[1] = speed >> 8;
+
+ // write the packet, return the error code
+ int rVal = write(_ID, 0x20, 2, data);
+
+ return(rVal);
+}
+
+
+// set continuous rotation speed from -1 to 1
+int AX12::setCRSpeed(float speed) {
+
+ // bit 10 = direction, 0 = CCW, 1=CW
+ // bits 9-0 = Speed
+ char data[2];
+
+ int goal = (0x3ff * abs(speed));
+
+ // set direction CW if we have a negative speed
+ if (speed < 0) {
+ goal |= (0x1 << 10);
+ }
+
+ data[0] = goal & 0xff; // bottom 8 bits
+ data[1] = goal >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ int rVal = write(_ID, 0x20, 2, data);
+
+ return(rVal);
+}
+
+
+int AX12::setCWLimit (int degrees) {
+
+ char data[2];
+
+ // 1023 / 300 * degrees
+ short limit = (1023 * degrees) / 300;
+
+#ifdef AX12_DEBUG
+ logger.printf("setCWLimit to 0x%x\n",limit);
+#endif
+
+ data[0] = limit & 0xff; // bottom 8 bits
+ data[1] = limit >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
+
+}
+
+int AX12::setCCWLimit (int degrees) {
+
+ char data[2];
+
+ // 1023 / 300 * degrees
+ short limit = (1023 * degrees) / 300;
+
+#ifdef AX12_DEBUG
+ logger.printf("setCCWLimit to 0x%x\n",limit);
+#endif
+
+ data[0] = limit & 0xff; // bottom 8 bits
+ data[1] = limit >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
+}
+
+
+int AX12::setID (int CurrentID, int NewID) {
+
+ char data[1];
+ data[0] = NewID;
+
+#ifdef AX12_DEBUG
+ logger.printf("setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
+#endif
+
+ return (write(CurrentID, AX12_REG_ID, 1, data));
+
+}
+
+
+int AX12::setBaud (int baud) {
+
+ char data[1];
+ data[0] = baud;
+
+#ifdef AX12_DEBUG
+ logger.printf("setting Baud rate to %d\n",baud);
+#endif
+
+ return (write(0xFE, AX12_REG_BAUD, 1, data));
+
+}
+
+
+
+// return 1 is the servo is still in flight
+int AX12::isMoving(void) {
+
+ char data[1];
+ read(_ID,AX12_REG_MOVING,1,data);
+ return(data[0]);
+}
+
+
+void AX12::trigger(void) {
+
+ char TxBuf[16];
+ char sum = 0;
+
+#ifdef AX12_TRIGGER_DEBUG
+ // Build the TxPacket first in RAM, then we'll send in one go
+ logger.printf("\nTriggered\n");
+ logger.printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
+#endif
+
+ TxBuf[0] = 0xFF;
+ TxBuf[1] = 0xFF;
+
+ // ID - Broadcast
+ TxBuf[2] = 0xFE;
+ sum += TxBuf[2];
+
+#ifdef AX12_TRIGGER_DEBUG
+ logger.printf(" ID : %d\n",TxBuf[2]);
+#endif
+
+ // Length
+ TxBuf[3] = 0x02;
+ sum += TxBuf[3];
+
+#ifdef AX12_TRIGGER_DEBUG
+ logger.printf(" Length %d\n",TxBuf[3]);
+#endif
+
+ // Instruction - ACTION
+ TxBuf[4] = 0x04;
+ sum += TxBuf[4];
+
+#ifdef AX12_TRIGGER_DEBUG
+ logger.printf(" Instruction 0x%X\n",TxBuf[5]);
+#endif
+
+ // Checksum
+ TxBuf[5] = 0xFF - sum;
+#ifdef AX12_TRIGGER_DEBUG
+ logger.printf(" Checksum 0x%X\n",TxBuf[5]);
+#endif
+
+ // Transmit the packet in one burst with no pausing
+ for (int i = 0; i < 6 ; i++) {
+ _ax12.putc(TxBuf[i]);
+ }
+
+ // This is a broadcast packet, so there will be no reply
+ return;
+}
+
+
+float AX12::getPosition(void) {
+
+#ifdef AX12_DEBUG
+ logger.printf("\ngetPosition(%d)",_ID);
+#endif
+
+ char data[2];
+
+ int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
+ short position = data[0] + (data[1] << 8);
+ float angle = (position * 300)/1024;
+
+ return (angle);
+}
+
+
+float AX12::getTemp (void) {
+
+#ifdef AX12_DEBUG
+ logger.printf("\ngetTemp(%d)",_ID);
+#endif
+
+ char data[1];
+ int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
+ float temp = data[0];
+ return(temp);
+}
+
+
+float AX12::getVolts (void) {
+
+#ifdef AX12_DEBUG
+ logger.printf("\ngetVolts(%d)",_ID);
+#endif
+
+ char data[1];
+ int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
+ float volts = data[0]/10.0;
+ return(volts);
+}
+
+float AX12::getLoad (void) {
+ char data[2];
+ int ErrorCode = read(_ID, AX12_REG_LOAD, 2, data);
+ short load1 = data[0] + (data[1] << 8);
+ float load = load1/1023;
+ return(load); //renvoie la charge en %
+}
+
+int AX12::read(int ID, int start, int bytes, char* data) {
+
+ char PacketLength = 0x4;
+ char TxBuf[16];
+ char sum = 0;
+ char Status[16];
+
+ Status[4] = 0xFE; // return code
+
+#ifdef AX12_READ_DEBUG
+ logger.printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
+#endif
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_READ_DEBUG
+ logger.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
+#endif
+
+ TxBuf[0] = 0xff;
+ TxBuf[1] = 0xff;
+
+ // ID
+ TxBuf[2] = ID;
+ sum += TxBuf[2];
+
+#ifdef AX12_READ_DEBUG
+ logger.printf(" ID : %d\n",TxBuf[2]);
+#endif
+
+ // Packet Length
+ TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
+ sum += TxBuf[3]; // Accululate the packet sum
+
+#ifdef AX12_READ_DEBUG
+ logger.printf(" Length : 0x%x\n",TxBuf[3]);
+#endif
+
+ // Instruction - Read
+ TxBuf[4] = 0x2;
+ sum += TxBuf[4];
+
+#ifdef AX12_READ_DEBUG
+ logger.printf(" Instruction : 0x%x\n",TxBuf[4]);
+#endif
+
+ // Start Address
+ TxBuf[5] = start;
+ sum += TxBuf[5];
+
+#ifdef AX12_READ_DEBUG
+ logger.printf(" Start Address : 0x%x\n",TxBuf[5]);
+#endif
+
+ // Bytes to read
+ TxBuf[6] = bytes;
+ sum += TxBuf[6];
+
+#ifdef AX12_READ_DEBUG
+ logger.printf(" No bytes : 0x%x\n",TxBuf[6]);
+#endif
+
+ // Checksum
+ TxBuf[7] = 0xFF - sum;
+#ifdef AX12_READ_DEBUG
+ logger.printf(" Checksum : 0x%x\n",TxBuf[7]);
+#endif
+
+ // Transmit the packet in one burst with no pausing
+ for (int i = 0; i<8 ; i++) {
+ _ax12.putc(TxBuf[i]);
+ }
+
+ // Wait for the bytes to be transmitted
+ wait (0.00002);
+
+ // Skip if the read was to the broadcast address
+ if (_ID != 0xFE) {
+
+
+
+ // response packet is always 6 + bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ // timeout is a little more than the time to transmit
+ // the packet back, i.e. (6+bytes)*10 bit periods
+
+ int timeout = 0;
+ int plen = 0;
+ while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
+
+ if (_ax12.readable()) {
+ Status[plen] = _ax12.getc();
+ plen++;
+ timeout = 0;
+ }
+
+ // wait for the bit period
+ wait (1.0/_baud);
+ timeout++;
+ }
+
+ if (timeout == ((6+bytes)*10) ) {
+ return(-1);
+ }
+
+ // Copy the data from Status into data for return
+ for (int i=0; i < Status[3]-2 ; i++) {
+ data[i] = Status[5+i];
+ }
+
+#ifdef AX12_READ_DEBUG
+ logger.printf("\nStatus Packet\n");
+ logger.printf(" Header : 0x%x\n",Status[0]);
+ logger.printf(" Header : 0x%x\n",Status[1]);
+ logger.printf(" ID : 0x%x\n",Status[2]);
+ logger.printf(" Length : 0x%x\n",Status[3]);
+ logger.printf(" Error Code : 0x%x\n",Status[4]);
+
+ for (int i=0; i < Status[3]-2 ; i++) {
+ logger.printf(" Data : 0x%x\n",Status[5+i]);
+ }
+
+ logger.printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
+#endif
+
+ } // if (ID!=0xFE)
+
+ return(Status[4]);
+}
+
+
+int AX12::write(int ID, int start, int bytes, char* data, int flag) {
+// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
+
+ char TxBuf[16];
+ char sum = 0;
+ char Status[6];
+
+#ifdef AX12_WRITE_DEBUG
+ logger.printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
+#endif
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_WRITE_DEBUG
+ logger.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
+#endif
+
+ TxBuf[0] = 0xff;
+ TxBuf[1] = 0xff;
+
+ // ID
+ TxBuf[2] = ID;
+ sum += TxBuf[2];
+
+#ifdef AX12_WRITE_DEBUG
+ logger.printf(" ID : %d\n",TxBuf[2]);
+#endif
+
+ // packet Length
+ TxBuf[3] = 3+bytes;
+ sum += TxBuf[3];
+
+#ifdef AX12_WRITE_DEBUG
+ logger.printf(" Length : %d\n",TxBuf[3]);
+#endif
+
+ // Instruction
+ if (flag == 1) {
+ TxBuf[4]=0x04;
+ sum += TxBuf[4];
+ } else {
+ TxBuf[4]=0x03;
+ sum += TxBuf[4];
+ }
+
+#ifdef AX12_WRITE_DEBUG
+ logger.printf(" Instruction : 0x%x\n",TxBuf[4]);
+#endif
+
+ // Start Address
+ TxBuf[5] = start;
+ sum += TxBuf[5];
+
+#ifdef AX12_WRITE_DEBUG
+ logger.printf(" Start : 0x%x\n",TxBuf[5]);
+#endif
+
+ // data
+ for (char i=0; i<bytes ; i++) {
+ TxBuf[6+i] = data[i];
+ sum += TxBuf[6+i];
+
+#ifdef AX12_WRITE_DEBUG
+ logger.printf(" Data : 0x%x\n",TxBuf[6+i]);
+#endif
+
+ }
+
+ // checksum
+ TxBuf[6+bytes] = 0xFF - sum;
+
+#ifdef AX12_WRITE_DEBUG
+ logger.printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
+#endif
+
+ // Transmit the packet in one burst with no pausing
+ for (int i = 0; i < (7 + bytes) ; i++) {
+ _ax12.putc(TxBuf[i]);
+ }
+
+ // Wait for data to transmit
+ wait (0.00002);
+
+ // make sure we have a valid return
+ Status[4]=0x00;
+
+ // we'll only get a reply if it was not broadcast
+ if (_ID!=0xFE) {
+
+
+ // response packet is always 6 bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ // timeout is a little more than the time to transmit
+ // the packet back, i.e. 60 bit periods, round up to 100
+ int timeout = 0;
+ int plen = 0;
+ while ((timeout < 100) && (plen<6)) {
+
+ if (_ax12.readable()) {
+ Status[plen] = _ax12.getc();
+ plen++;
+ timeout = 0;
+ }
+
+ // wait for the bit period
+ wait (1.0/_baud);
+ timeout++;
+ }
+
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_WRITE_DEBUG
+ logger.printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
+ logger.printf(" ID : %d\n",Status[2]);
+ logger.printf(" Length : %d\n",Status[3]);
+ logger.printf(" Error : 0x%x\n",Status[4]);
+ logger.printf(" Checksum : 0x%x\n",Status[5]);
+#endif
+
+
+ }
+
+ return(Status[4]); // return error code
+}