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Diff: AX12/AX12.cpp
- Revision:
- 80:cd4960dfa47e
- Parent:
- 79:b11b50108ae5
- Child:
- 81:e7b03e81b025
--- a/AX12/AX12.cpp Thu May 05 15:11:06 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,557 +0,0 @@
-/* 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);
-}
-
-
-// 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
-}