BE@R lab
modify to nucleo STM32F411
Fork of
MX28
by 
Georgios Petrou
MX28.h@4:30da84384307, 2015-08-25 (annotated)
- Committer:
- soulx
- Date:
- Tue Aug 25 08:51:58 2015 +0000
- Revision:
- 4:30da84384307
- Parent:
- 3:7929abcdc22f
modify for Nucleo STM32F411
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| GIPetrou | 1:5f537df9dca8 | 1 | /* Dynamixel MX28 servo library |
| GIPetrou | 2:85216442d3ef | 2 | * Copyright (c) 2012-2013 Georgios Petrou, MIT License |
| GIPetrou | 1:5f537df9dca8 | 3 | * |
| GIPetrou | 1:5f537df9dca8 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
| GIPetrou | 1:5f537df9dca8 | 5 | * and associated documentation files (the "Software"), to deal in the Software without restriction, |
| GIPetrou | 1:5f537df9dca8 | 6 | * including without limitation the rights to use, copy, modify, merge, publish, distribute, |
| GIPetrou | 1:5f537df9dca8 | 7 | * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is |
| GIPetrou | 1:5f537df9dca8 | 8 | * furnished to do so, subject to the following conditions: |
| GIPetrou | 1:5f537df9dca8 | 9 | * |
| GIPetrou | 1:5f537df9dca8 | 10 | * The above copyright notice and this permission notice shall be included in all copies or |
| GIPetrou | 1:5f537df9dca8 | 11 | * substantial portions of the Software. |
| GIPetrou | 1:5f537df9dca8 | 12 | * |
| GIPetrou | 1:5f537df9dca8 | 13 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
| GIPetrou | 1:5f537df9dca8 | 14 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| GIPetrou | 1:5f537df9dca8 | 15 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
| GIPetrou | 1:5f537df9dca8 | 16 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| GIPetrou | 1:5f537df9dca8 | 17 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| GIPetrou | 1:5f537df9dca8 | 18 | */ |
| GIPetrou | 1:5f537df9dca8 | 19 | |
| GIPetrou | 1:5f537df9dca8 | 20 | #ifndef MX28_H |
| GIPetrou | 1:5f537df9dca8 | 21 | #define MX28_H |
| GIPetrou | 1:5f537df9dca8 | 22 | |
| GIPetrou | 1:5f537df9dca8 | 23 | #include "mbed.h" |
| soulx | 3:7929abcdc22f | 24 | //#include "SerialHalfDuplex.h" |
| soulx | 3:7929abcdc22f | 25 | #include "iSerial.h" |
| GIPetrou | 1:5f537df9dca8 | 26 | #include "Protocol.h" |
| GIPetrou | 1:5f537df9dca8 | 27 | #include "Utilities.h" |
| GIPetrou | 1:5f537df9dca8 | 28 | |
| soulx | 4:30da84384307 | 29 | //#define MX28_DEBUG |
| GIPetrou | 1:5f537df9dca8 | 30 | |
| soulx | 3:7929abcdc22f | 31 | #define PIN_RS485_DIRC PC_8 |
| soulx | 3:7929abcdc22f | 32 | |
| soulx | 3:7929abcdc22f | 33 | |
| GIPetrou | 1:5f537df9dca8 | 34 | /** MX28 servo control class |
| GIPetrou | 1:5f537df9dca8 | 35 | * |
| GIPetrou | 1:5f537df9dca8 | 36 | * Example: |
| GIPetrou | 1:5f537df9dca8 | 37 | * @code |
| GIPetrou | 1:5f537df9dca8 | 38 | * |
| GIPetrou | 1:5f537df9dca8 | 39 | * #include "mbed.h" |
| GIPetrou | 1:5f537df9dca8 | 40 | * #include "MX28.h" |
| GIPetrou | 1:5f537df9dca8 | 41 | * |
| GIPetrou | 1:5f537df9dca8 | 42 | * Serial pc(USBTX, USBRX); |
| GIPetrou | 1:5f537df9dca8 | 43 | * MX28 mx28(p28, p27, 57600); |
| GIPetrou | 1:5f537df9dca8 | 44 | * |
| GIPetrou | 1:5f537df9dca8 | 45 | * int main() |
| GIPetrou | 1:5f537df9dca8 | 46 | * { |
| GIPetrou | 1:5f537df9dca8 | 47 | * pc.baud(115200); |
| GIPetrou | 1:5f537df9dca8 | 48 | * |
| GIPetrou | 1:5f537df9dca8 | 49 | * pc.getc(); |
| GIPetrou | 1:5f537df9dca8 | 50 | * pc.printf("======================================================\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 51 | * |
| GIPetrou | 1:5f537df9dca8 | 52 | * uint8_t servoId = 0x01; |
| GIPetrou | 1:5f537df9dca8 | 53 | * |
| GIPetrou | 1:5f537df9dca8 | 54 | * uint16_t modelNumber; |
| GIPetrou | 1:5f537df9dca8 | 55 | * mx28.GetModelNumber(servoId, &modelNumber); |
| GIPetrou | 1:5f537df9dca8 | 56 | * |
| GIPetrou | 1:5f537df9dca8 | 57 | * uint8_t firmwareVersion; |
| GIPetrou | 1:5f537df9dca8 | 58 | * mx28.GetFirmwareVersion(servoId, &firmwareVersion); |
| GIPetrou | 1:5f537df9dca8 | 59 | * |
| GIPetrou | 1:5f537df9dca8 | 60 | * uint8_t id; |
| GIPetrou | 1:5f537df9dca8 | 61 | * mx28.GetId(servoId, &id); |
| GIPetrou | 1:5f537df9dca8 | 62 | * mx28.SetId(servoId, servoId); |
| GIPetrou | 1:5f537df9dca8 | 63 | * |
| GIPetrou | 1:5f537df9dca8 | 64 | * int32_t baudRate; |
| GIPetrou | 1:5f537df9dca8 | 65 | * mx28.GetBaudRate(servoId, &baudRate); |
| GIPetrou | 1:5f537df9dca8 | 66 | * mx28.SetBaudRate(servoId, 57600); |
| GIPetrou | 1:5f537df9dca8 | 67 | * |
| GIPetrou | 1:5f537df9dca8 | 68 | * uint8_t returnDelayTime; |
| GIPetrou | 1:5f537df9dca8 | 69 | * mx28.GetReturnDelayTime(servoId, &returnDelayTime); |
| GIPetrou | 1:5f537df9dca8 | 70 | * mx28.SetReturnDelayTime(servoId, 0xFA); |
| GIPetrou | 1:5f537df9dca8 | 71 | * |
| GIPetrou | 1:5f537df9dca8 | 72 | * uint16_t cwAngleLimit; |
| GIPetrou | 1:5f537df9dca8 | 73 | * mx28.GetCWAngleLimit(servoId, &cwAngleLimit); |
| GIPetrou | 1:5f537df9dca8 | 74 | * mx28.SetCWAngleLimit(servoId, 0x0000); |
| GIPetrou | 1:5f537df9dca8 | 75 | * |
| GIPetrou | 1:5f537df9dca8 | 76 | * uint16_t ccwAngleLimit; |
| GIPetrou | 1:5f537df9dca8 | 77 | * mx28.GetCCWAngleLimit(servoId, &ccwAngleLimit); |
| GIPetrou | 1:5f537df9dca8 | 78 | * mx28.SetCCWAngleLimit(servoId, 0x0FFF); |
| GIPetrou | 1:5f537df9dca8 | 79 | * |
| GIPetrou | 1:5f537df9dca8 | 80 | * uint8_t highestTemperatureLimit; |
| GIPetrou | 1:5f537df9dca8 | 81 | * mx28.GetHighestTemperatureLimit(servoId, &highestTemperatureLimit); |
| GIPetrou | 1:5f537df9dca8 | 82 | * mx28.SetHighestTemperatureLimit(servoId, 0x50); |
| GIPetrou | 1:5f537df9dca8 | 83 | * |
| GIPetrou | 1:5f537df9dca8 | 84 | * uint8_t downLimitVoltage; |
| GIPetrou | 1:5f537df9dca8 | 85 | * mx28.GetLowestVoltageLimit(servoId, &downLimitVoltage); |
| GIPetrou | 1:5f537df9dca8 | 86 | * mx28.SetLowestVoltageLimit(servoId, 0x3C); |
| GIPetrou | 1:5f537df9dca8 | 87 | * |
| GIPetrou | 1:5f537df9dca8 | 88 | * uint8_t upLimitVoltage; |
| GIPetrou | 1:5f537df9dca8 | 89 | * mx28.GetHighestVoltageLimit(servoId, &upLimitVoltage); |
| GIPetrou | 1:5f537df9dca8 | 90 | * mx28.SetHighestVoltageLimit(servoId, 0xA0); |
| GIPetrou | 1:5f537df9dca8 | 91 | * |
| GIPetrou | 1:5f537df9dca8 | 92 | * uint16_t maxTorque; |
| GIPetrou | 1:5f537df9dca8 | 93 | * mx28.GetMaxTorque(servoId, &maxTorque); |
| GIPetrou | 1:5f537df9dca8 | 94 | * mx28.SetMaxTorque(servoId, 0x03FF); |
| GIPetrou | 1:5f537df9dca8 | 95 | * |
| GIPetrou | 1:5f537df9dca8 | 96 | * uint8_t statusReturnLevel; |
| GIPetrou | 1:5f537df9dca8 | 97 | * mx28.GetStatusReturnLevel(servoId, &statusReturnLevel); |
| GIPetrou | 1:5f537df9dca8 | 98 | * mx28.SetStatusReturnLevel(servoId, 0x02); |
| GIPetrou | 1:5f537df9dca8 | 99 | * |
| GIPetrou | 1:5f537df9dca8 | 100 | * uint8_t alarmLED; |
| GIPetrou | 1:5f537df9dca8 | 101 | * mx28.GetAlarmLED(servoId, &alarmLED); |
| GIPetrou | 1:5f537df9dca8 | 102 | * mx28.SetAlarmLED(servoId, 0x24); |
| GIPetrou | 1:5f537df9dca8 | 103 | * |
| GIPetrou | 1:5f537df9dca8 | 104 | * uint8_t alarmShutdown; |
| GIPetrou | 1:5f537df9dca8 | 105 | * mx28.GetAlarmShutdown(servoId, &alarmShutdown); |
| GIPetrou | 1:5f537df9dca8 | 106 | * mx28.SetAlarmShutdown(servoId, 0x24); |
| GIPetrou | 1:5f537df9dca8 | 107 | * |
| GIPetrou | 1:5f537df9dca8 | 108 | * uint8_t enableTorque; |
| GIPetrou | 1:5f537df9dca8 | 109 | * mx28.GetEnableTorque(servoId, &enableTorque); |
| GIPetrou | 1:5f537df9dca8 | 110 | * mx28.SetEnableTorque(servoId, 0x00); |
| GIPetrou | 1:5f537df9dca8 | 111 | * |
| GIPetrou | 1:5f537df9dca8 | 112 | * uint8_t enableLED; |
| GIPetrou | 1:5f537df9dca8 | 113 | * mx28.GetEnableLED(servoId, &enableLED); |
| GIPetrou | 1:5f537df9dca8 | 114 | * mx28.SetEnableLED(servoId, 0x00); |
| GIPetrou | 1:5f537df9dca8 | 115 | * |
| GIPetrou | 1:5f537df9dca8 | 116 | * uint8_t pGain; |
| GIPetrou | 1:5f537df9dca8 | 117 | * mx28.GetPGain(servoId, &pGain); |
| GIPetrou | 1:5f537df9dca8 | 118 | * mx28.SetPGain(servoId, 0x20); |
| GIPetrou | 1:5f537df9dca8 | 119 | * |
| GIPetrou | 1:5f537df9dca8 | 120 | * uint8_t iGain; |
| GIPetrou | 1:5f537df9dca8 | 121 | * mx28.GetIGain(servoId, &iGain); |
| GIPetrou | 1:5f537df9dca8 | 122 | * mx28.SetIGain(servoId, 0x00); |
| GIPetrou | 1:5f537df9dca8 | 123 | * |
| GIPetrou | 1:5f537df9dca8 | 124 | * uint8_t dGain; |
| GIPetrou | 1:5f537df9dca8 | 125 | * mx28.GetDGain(servoId, &dGain); |
| GIPetrou | 1:5f537df9dca8 | 126 | * mx28.SetDGain(servoId, 0x00); |
| GIPetrou | 1:5f537df9dca8 | 127 | * |
| GIPetrou | 1:5f537df9dca8 | 128 | * uint16_t goalPosition; |
| GIPetrou | 1:5f537df9dca8 | 129 | * mx28.GetGoalPosition(servoId, &goalPosition); |
| GIPetrou | 1:5f537df9dca8 | 130 | * mx28.SetGoalPosition(servoId, 0x0800); |
| GIPetrou | 1:5f537df9dca8 | 131 | * |
| GIPetrou | 1:5f537df9dca8 | 132 | * uint16_t movingSpeed; |
| GIPetrou | 1:5f537df9dca8 | 133 | * mx28.GetMovingSpeed(servoId, &movingSpeed); |
| GIPetrou | 1:5f537df9dca8 | 134 | * mx28.SetMovingSpeed(servoId, 0x00FF); |
| GIPetrou | 1:5f537df9dca8 | 135 | * |
| GIPetrou | 1:5f537df9dca8 | 136 | * uint16_t torqueLimit; |
| GIPetrou | 1:5f537df9dca8 | 137 | * mx28.GetTorqueLimit(servoId, &torqueLimit); |
| GIPetrou | 1:5f537df9dca8 | 138 | * mx28.SetTorqueLimit(servoId, 0x03FF); |
| GIPetrou | 1:5f537df9dca8 | 139 | * |
| GIPetrou | 1:5f537df9dca8 | 140 | * uint16_t presentPosition; |
| GIPetrou | 1:5f537df9dca8 | 141 | * mx28.GetPresentPosition(servoId, &presentPosition); |
| GIPetrou | 1:5f537df9dca8 | 142 | * |
| GIPetrou | 1:5f537df9dca8 | 143 | * uint16_t presentSpeed; |
| GIPetrou | 1:5f537df9dca8 | 144 | * mx28.GetPresentSpeed(servoId, &presentSpeed); |
| GIPetrou | 1:5f537df9dca8 | 145 | * |
| GIPetrou | 1:5f537df9dca8 | 146 | * uint16_t presentLoad; |
| GIPetrou | 1:5f537df9dca8 | 147 | * mx28.GetPresentLoad(servoId, &presentLoad); |
| GIPetrou | 1:5f537df9dca8 | 148 | * |
| GIPetrou | 1:5f537df9dca8 | 149 | * uint8_t presentVoltage; |
| GIPetrou | 1:5f537df9dca8 | 150 | * mx28.GetPresentVoltage(servoId, &presentVoltage); |
| GIPetrou | 1:5f537df9dca8 | 151 | * |
| GIPetrou | 1:5f537df9dca8 | 152 | * uint8_t presentTemperature; |
| GIPetrou | 1:5f537df9dca8 | 153 | * mx28.GetPresentTemperature(servoId, &presentTemperature); |
| GIPetrou | 1:5f537df9dca8 | 154 | * |
| GIPetrou | 1:5f537df9dca8 | 155 | * uint8_t isRegistered; |
| GIPetrou | 1:5f537df9dca8 | 156 | * |
| GIPetrou | 1:5f537df9dca8 | 157 | * mx28.GetIsRegistered(servoId, &isRegistered); |
| GIPetrou | 1:5f537df9dca8 | 158 | * |
| GIPetrou | 1:5f537df9dca8 | 159 | * uint8_t isMoving; |
| GIPetrou | 1:5f537df9dca8 | 160 | * mx28.GetIsMoving(servoId, &isMoving); |
| GIPetrou | 1:5f537df9dca8 | 161 | * |
| GIPetrou | 1:5f537df9dca8 | 162 | * uint8_t lock; |
| GIPetrou | 1:5f537df9dca8 | 163 | * mx28.GetIsLocked(servoId, &lock); |
| GIPetrou | 1:5f537df9dca8 | 164 | * mx28.SetIsLocked(servoId, 0x00); |
| GIPetrou | 1:5f537df9dca8 | 165 | * |
| GIPetrou | 1:5f537df9dca8 | 166 | * uint16_t punch; |
| GIPetrou | 1:5f537df9dca8 | 167 | * mx28.GetPunch(servoId, &punch); |
| GIPetrou | 1:5f537df9dca8 | 168 | * mx28.SetPunch(servoId, 0x0020); |
| GIPetrou | 1:5f537df9dca8 | 169 | * |
| GIPetrou | 1:5f537df9dca8 | 170 | * mx28.Ping(servoId); |
| GIPetrou | 1:5f537df9dca8 | 171 | * |
| GIPetrou | 1:5f537df9dca8 | 172 | * mx28.Reset(servoId); |
| GIPetrou | 1:5f537df9dca8 | 173 | * |
| GIPetrou | 1:5f537df9dca8 | 174 | * uint8_t servo1Id = 0x01; |
| GIPetrou | 1:5f537df9dca8 | 175 | * uint8_t servo2Id = 0x02; |
| GIPetrou | 1:5f537df9dca8 | 176 | * uint8_t servo3Id = 0x03; |
| GIPetrou | 1:5f537df9dca8 | 177 | * |
| GIPetrou | 1:5f537df9dca8 | 178 | * uint16_t servo1GoalPosition = 0x0800; |
| GIPetrou | 1:5f537df9dca8 | 179 | * uint16_t servo2GoalPosition = 0x0800; |
| GIPetrou | 1:5f537df9dca8 | 180 | * uint16_t servo3GoalPosition = 0x0800; |
| GIPetrou | 1:5f537df9dca8 | 181 | * |
| GIPetrou | 1:5f537df9dca8 | 182 | * MX28_PROTOCOL_PACKET packet; |
| GIPetrou | 1:5f537df9dca8 | 183 | * packet.servoId = MX28_PROTOCOL_BROADCAST_ID; |
| GIPetrou | 1:5f537df9dca8 | 184 | * // (Data length + 1) * Number of servos + 4 |
| GIPetrou | 1:5f537df9dca8 | 185 | * packet.length = (2+ 1) * 3 + 4; |
| GIPetrou | 1:5f537df9dca8 | 186 | * packet.instructionErrorId = MX28_SYNC_WRITE; |
| GIPetrou | 1:5f537df9dca8 | 187 | * packet.parameter[0] = MX28_GOAL_POSITION_L; |
| GIPetrou | 1:5f537df9dca8 | 188 | * packet.parameter[1] = 0x06; |
| GIPetrou | 1:5f537df9dca8 | 189 | * packet.parameter[2] = servo1Id; |
| GIPetrou | 1:5f537df9dca8 | 190 | * Utilities::ConvertUInt16ToUInt8Array(servo1GoalPosition, (uint8_t*)&(packet.parameter[3])); |
| GIPetrou | 1:5f537df9dca8 | 191 | * packet.parameter[9] = servo2Id; |
| GIPetrou | 1:5f537df9dca8 | 192 | * Utilities::ConvertUInt16ToUInt8Array(servo2GoalPosition, (uint8_t*)&(packet.parameter[10])); |
| GIPetrou | 1:5f537df9dca8 | 193 | * packet.parameter[16] = servo3Id; |
| GIPetrou | 1:5f537df9dca8 | 194 | * Utilities::ConvertUInt16ToUInt8Array(servo3GoalPosition, (uint8_t*)&(packet.parameter[17])); |
| GIPetrou | 1:5f537df9dca8 | 195 | * |
| GIPetrou | 1:5f537df9dca8 | 196 | * pc.printf("Set servos goal positions: %hu %hu %hu\r\n", servo1GoalPosition, servo2GoalPosition, servo3GoalPosition); |
| GIPetrou | 1:5f537df9dca8 | 197 | * |
| GIPetrou | 1:5f537df9dca8 | 198 | * mx28.CommunicatePacket(&packet); |
| GIPetrou | 1:5f537df9dca8 | 199 | * |
| GIPetrou | 1:5f537df9dca8 | 200 | * packet.servoId = servoId; |
| GIPetrou | 1:5f537df9dca8 | 201 | * packet.length = 4; |
| GIPetrou | 1:5f537df9dca8 | 202 | * packet.instructionErrorId = MX28_READ_DATA; |
| GIPetrou | 1:5f537df9dca8 | 203 | * packet.parameter[0] = MX28_PRESENT_POSITION_L; |
| GIPetrou | 1:5f537df9dca8 | 204 | * packet.parameter[1] = 0x08; |
| GIPetrou | 1:5f537df9dca8 | 205 | * |
| GIPetrou | 1:5f537df9dca8 | 206 | * mx28.CommunicatePacket(&packet); |
| GIPetrou | 1:5f537df9dca8 | 207 | * |
| GIPetrou | 1:5f537df9dca8 | 208 | * presentPosition = Utilities::ConvertUInt8ArrayToUInt16(packet.parameter); |
| GIPetrou | 1:5f537df9dca8 | 209 | * presentSpeed = Utilities::ConvertUInt8ArrayToUInt16((uint8_t*)&(packet.parameter[2])); |
| GIPetrou | 1:5f537df9dca8 | 210 | * presentLoad = Utilities::ConvertUInt8ArrayToUInt16((uint8_t*)&(packet.parameter[4])); |
| GIPetrou | 1:5f537df9dca8 | 211 | * presentVoltage = packet.parameter[6]; |
| GIPetrou | 1:5f537df9dca8 | 212 | * presentTemperature = packet.parameter[7]; |
| GIPetrou | 1:5f537df9dca8 | 213 | * |
| GIPetrou | 1:5f537df9dca8 | 214 | * pc.printf("Present position: %hu\r\n", presentPosition); |
| GIPetrou | 1:5f537df9dca8 | 215 | * pc.printf("Present speed: %hu\r\n", presentSpeed); |
| GIPetrou | 1:5f537df9dca8 | 216 | * pc.printf("Present load: %hu\r\n", presentLoad); |
| GIPetrou | 1:5f537df9dca8 | 217 | * pc.printf("Present voltage: 0x%02X\r\n", presentVoltage); |
| GIPetrou | 1:5f537df9dca8 | 218 | * pc.printf("Present temperature: 0x%02X\r\n", presentTemperature); |
| GIPetrou | 1:5f537df9dca8 | 219 | * |
| GIPetrou | 1:5f537df9dca8 | 220 | * uint8_t status = mx28.GetModelNumber(servoId, &modelNumber); |
| GIPetrou | 1:5f537df9dca8 | 221 | * |
| GIPetrou | 1:5f537df9dca8 | 222 | * if(status == MX28_ERRBIT_WRITE_TIMEOUT) |
| GIPetrou | 1:5f537df9dca8 | 223 | * pc.printf("Error: Write timeout\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 224 | * else if(status == MX28_ERRBIT_READ_TIMEOUT) |
| GIPetrou | 1:5f537df9dca8 | 225 | * pc.printf("Error: Read timeout\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 226 | * else if(status == MX28_ERRBIT_MASTER_CHECKSUM) |
| GIPetrou | 1:5f537df9dca8 | 227 | * pc.printf("Error: Master checksum error\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 228 | * else |
| GIPetrou | 1:5f537df9dca8 | 229 | * { |
| GIPetrou | 1:5f537df9dca8 | 230 | * if(status & MX28_ERRBIT_VOLTAGE) |
| GIPetrou | 1:5f537df9dca8 | 231 | * pc.printf("Error: Input voltage error\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 232 | * if(status & MX28_ERRBIT_ANGLE) |
| GIPetrou | 1:5f537df9dca8 | 233 | * pc.printf("Error: Angle limit error\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 234 | * if(status & MX28_ERRBIT_OVERHEAT) |
| GIPetrou | 1:5f537df9dca8 | 235 | * pc.printf("Error: Overheat error\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 236 | * if(status & MX28_ERRBIT_RANGE) |
| GIPetrou | 1:5f537df9dca8 | 237 | * pc.printf("Error: Out of range error\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 238 | * if(status & MX28_ERRBIT_CHECKSUM) |
| GIPetrou | 1:5f537df9dca8 | 239 | * pc.printf("Error: Checksum error\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 240 | * if(status & MX28_ERRBIT_OVERLOAD) |
| GIPetrou | 1:5f537df9dca8 | 241 | * pc.printf("Error: Overload error\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 242 | * if(status & MX28_ERRBIT_INSTRUCTION) |
| GIPetrou | 1:5f537df9dca8 | 243 | * pc.printf("Error: Instruction code error\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 244 | * } |
| GIPetrou | 1:5f537df9dca8 | 245 | * |
| GIPetrou | 1:5f537df9dca8 | 246 | * pc.printf("======================================================\r\n"); |
| GIPetrou | 1:5f537df9dca8 | 247 | * |
| GIPetrou | 1:5f537df9dca8 | 248 | * return 0; |
| GIPetrou | 1:5f537df9dca8 | 249 | * } |
| GIPetrou | 1:5f537df9dca8 | 250 | * @endcode |
| GIPetrou | 1:5f537df9dca8 | 251 | */ |
| GIPetrou | 1:5f537df9dca8 | 252 | class MX28 |
| GIPetrou | 1:5f537df9dca8 | 253 | { |
| GIPetrou | 1:5f537df9dca8 | 254 | private: |
| GIPetrou | 1:5f537df9dca8 | 255 | /** PC serial connection used in debug mode. |
| GIPetrou | 1:5f537df9dca8 | 256 | */ |
| GIPetrou | 1:5f537df9dca8 | 257 | Serial *pc; |
| GIPetrou | 1:5f537df9dca8 | 258 | |
| GIPetrou | 1:5f537df9dca8 | 259 | /** Servo serial half duplex connection. |
| GIPetrou | 1:5f537df9dca8 | 260 | */ |
| soulx | 3:7929abcdc22f | 261 | //SerialHalfDuplex *servoSerialHalfDuplex; |
| soulx | 3:7929abcdc22f | 262 | iSerial *servoSerialHalfDuplex; |
| GIPetrou | 1:5f537df9dca8 | 263 | |
| GIPetrou | 1:5f537df9dca8 | 264 | public: |
| GIPetrou | 1:5f537df9dca8 | 265 | /** Send the MX28 packet over the serial half duplex connection. |
| GIPetrou | 1:5f537df9dca8 | 266 | * |
| GIPetrou | 1:5f537df9dca8 | 267 | * @param packet The MX28 packet. |
| GIPetrou | 1:5f537df9dca8 | 268 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 269 | */ |
| GIPetrou | 1:5f537df9dca8 | 270 | uint8_t CommunicatePacket(MX28_PROTOCOL_PACKET *packet); |
| GIPetrou | 1:5f537df9dca8 | 271 | |
| GIPetrou | 1:5f537df9dca8 | 272 | /** Get the servo model number. |
| GIPetrou | 1:5f537df9dca8 | 273 | * |
| GIPetrou | 1:5f537df9dca8 | 274 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 275 | * @param modelNumber The variable to store the model number. |
| GIPetrou | 1:5f537df9dca8 | 276 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 277 | */ |
| GIPetrou | 1:5f537df9dca8 | 278 | uint8_t GetModelNumber(uint8_t servoId, uint16_t *modelNumber); |
| GIPetrou | 1:5f537df9dca8 | 279 | |
| GIPetrou | 1:5f537df9dca8 | 280 | /** Get the servo firmware version. |
| GIPetrou | 1:5f537df9dca8 | 281 | * |
| GIPetrou | 1:5f537df9dca8 | 282 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 283 | * @param firmwareVersion The variable to store the model number. |
| GIPetrou | 1:5f537df9dca8 | 284 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 285 | */ |
| GIPetrou | 1:5f537df9dca8 | 286 | uint8_t GetFirmwareVersion(uint8_t servoId, uint8_t *firmwareVersion); |
| GIPetrou | 1:5f537df9dca8 | 287 | |
| GIPetrou | 1:5f537df9dca8 | 288 | /** Get the servo id. |
| GIPetrou | 1:5f537df9dca8 | 289 | * |
| GIPetrou | 1:5f537df9dca8 | 290 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 291 | * @param id The variable to store the id. |
| GIPetrou | 1:5f537df9dca8 | 292 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 293 | */ |
| GIPetrou | 1:5f537df9dca8 | 294 | uint8_t GetId(uint8_t servoId, uint8_t *id); |
| GIPetrou | 1:5f537df9dca8 | 295 | |
| GIPetrou | 1:5f537df9dca8 | 296 | /** Set the servo id. |
| GIPetrou | 1:5f537df9dca8 | 297 | * |
| GIPetrou | 1:5f537df9dca8 | 298 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 299 | * @param newId The new servo id. |
| GIPetrou | 1:5f537df9dca8 | 300 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 301 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 302 | */ |
| GIPetrou | 1:5f537df9dca8 | 303 | uint8_t SetId(uint8_t servoId, uint8_t newId, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 304 | |
| GIPetrou | 1:5f537df9dca8 | 305 | /** Get the servo baudrate. |
| GIPetrou | 1:5f537df9dca8 | 306 | * |
| GIPetrou | 1:5f537df9dca8 | 307 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 308 | * @param baudRate The variable to store the baudrate. |
| GIPetrou | 1:5f537df9dca8 | 309 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 310 | */ |
| GIPetrou | 1:5f537df9dca8 | 311 | uint8_t GetBaudRate(uint8_t servoId, int32_t *baudRate); |
| GIPetrou | 1:5f537df9dca8 | 312 | |
| GIPetrou | 1:5f537df9dca8 | 313 | /** Set the servo baudrate. |
| GIPetrou | 1:5f537df9dca8 | 314 | * |
| GIPetrou | 1:5f537df9dca8 | 315 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 316 | * @param baudRate The servo baudrate. |
| GIPetrou | 1:5f537df9dca8 | 317 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 318 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 319 | */ |
| GIPetrou | 1:5f537df9dca8 | 320 | uint8_t SetBaudRate(uint8_t servoId, int baudRate, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 321 | |
| GIPetrou | 1:5f537df9dca8 | 322 | /** Get the servo return delay time. |
| GIPetrou | 1:5f537df9dca8 | 323 | * |
| GIPetrou | 1:5f537df9dca8 | 324 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 325 | * @param returnDelayTime The variable to store the return delay time. |
| GIPetrou | 1:5f537df9dca8 | 326 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 327 | */ |
| GIPetrou | 1:5f537df9dca8 | 328 | uint8_t GetReturnDelayTime(uint8_t servoId, uint8_t *returnDelayTime); |
| GIPetrou | 1:5f537df9dca8 | 329 | |
| GIPetrou | 1:5f537df9dca8 | 330 | /** Set the servo delay time. |
| GIPetrou | 1:5f537df9dca8 | 331 | * |
| GIPetrou | 1:5f537df9dca8 | 332 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 333 | * @param returnDelayTime The servo return delay time. |
| GIPetrou | 1:5f537df9dca8 | 334 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 335 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 336 | */ |
| GIPetrou | 1:5f537df9dca8 | 337 | uint8_t SetReturnDelayTime(uint8_t servoId, uint8_t returnDelayTime, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 338 | |
| GIPetrou | 1:5f537df9dca8 | 339 | /** Get the servo clockwise angle limit. |
| GIPetrou | 1:5f537df9dca8 | 340 | * |
| GIPetrou | 1:5f537df9dca8 | 341 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 342 | * @param cwAngleLimit The variable to store the clockwise angle limit. |
| GIPetrou | 1:5f537df9dca8 | 343 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 344 | */ |
| GIPetrou | 1:5f537df9dca8 | 345 | uint8_t GetCWAngleLimit(uint8_t servoId, uint16_t *cwAngleLimit); |
| GIPetrou | 1:5f537df9dca8 | 346 | |
| GIPetrou | 1:5f537df9dca8 | 347 | /** Set the servo clockwise angle limit. |
| GIPetrou | 1:5f537df9dca8 | 348 | * |
| GIPetrou | 1:5f537df9dca8 | 349 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 350 | * @param cwAngleLimit The servo clockwise angle limit. |
| GIPetrou | 1:5f537df9dca8 | 351 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 352 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 353 | */ |
| GIPetrou | 1:5f537df9dca8 | 354 | uint8_t SetCWAngleLimit(uint8_t servoId, uint16_t cwAngleLimit, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 355 | |
| GIPetrou | 1:5f537df9dca8 | 356 | /** Get the servo counterclockwise angle limit. |
| GIPetrou | 1:5f537df9dca8 | 357 | * |
| GIPetrou | 1:5f537df9dca8 | 358 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 359 | * @param ccwAngleLimit The variable to store the counterclockwise angle limit. |
| GIPetrou | 1:5f537df9dca8 | 360 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 361 | */ |
| GIPetrou | 1:5f537df9dca8 | 362 | uint8_t GetCCWAngleLimit(uint8_t servoId, uint16_t *ccwAngleLimit); |
| GIPetrou | 1:5f537df9dca8 | 363 | |
| GIPetrou | 1:5f537df9dca8 | 364 | /** Set the servo counterclockwise angle limit. |
| GIPetrou | 1:5f537df9dca8 | 365 | * |
| GIPetrou | 1:5f537df9dca8 | 366 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 367 | * @param ccwAngleLimit The servo counterclockwise angle limit. |
| GIPetrou | 1:5f537df9dca8 | 368 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 369 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 370 | */ |
| GIPetrou | 1:5f537df9dca8 | 371 | uint8_t SetCCWAngleLimit(uint8_t servoId, uint16_t ccwAngleLimit, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 372 | |
| GIPetrou | 1:5f537df9dca8 | 373 | /** Get the servo up temperature limit. |
| GIPetrou | 1:5f537df9dca8 | 374 | * |
| GIPetrou | 1:5f537df9dca8 | 375 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 376 | * @param highestTemperatureLimit The variable to store the highest temperature limit. |
| GIPetrou | 1:5f537df9dca8 | 377 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 378 | */ |
| GIPetrou | 1:5f537df9dca8 | 379 | uint8_t GetHighestTemperatureLimit(uint8_t servoId, uint8_t *highestTemperatureLimit); |
| GIPetrou | 1:5f537df9dca8 | 380 | |
| GIPetrou | 1:5f537df9dca8 | 381 | /** Set the servo highest temperature limit. |
| GIPetrou | 1:5f537df9dca8 | 382 | * |
| GIPetrou | 1:5f537df9dca8 | 383 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 384 | * @param highestTemperatureLimit The servo highest temperature limit. |
| GIPetrou | 1:5f537df9dca8 | 385 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 386 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 387 | */ |
| GIPetrou | 1:5f537df9dca8 | 388 | uint8_t SetHighestTemperatureLimit(uint8_t servoId, uint8_t highestTemperatureLimit, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 389 | |
| GIPetrou | 1:5f537df9dca8 | 390 | /** Get the servo lowest voltage limit. |
| GIPetrou | 1:5f537df9dca8 | 391 | * |
| GIPetrou | 1:5f537df9dca8 | 392 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 393 | * @param lowestVoltageLimit The variable to store the lowest voltage limit. |
| GIPetrou | 1:5f537df9dca8 | 394 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 395 | */ |
| GIPetrou | 1:5f537df9dca8 | 396 | uint8_t GetLowestVoltageLimit(uint8_t servoId, uint8_t *lowestVoltageLimit); |
| GIPetrou | 1:5f537df9dca8 | 397 | |
| GIPetrou | 1:5f537df9dca8 | 398 | /** Set the servo lowest voltage limit. |
| GIPetrou | 1:5f537df9dca8 | 399 | * |
| GIPetrou | 1:5f537df9dca8 | 400 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 401 | * @param lowestVoltageLimit The servo lowest voltage limit. |
| GIPetrou | 1:5f537df9dca8 | 402 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 403 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 404 | */ |
| GIPetrou | 1:5f537df9dca8 | 405 | uint8_t SetLowestVoltageLimit(uint8_t servoId, uint8_t lowestVoltageLimit, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 406 | |
| GIPetrou | 1:5f537df9dca8 | 407 | /** Get the servo highest voltage limit. |
| GIPetrou | 1:5f537df9dca8 | 408 | * |
| GIPetrou | 1:5f537df9dca8 | 409 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 410 | * @param highestVoltageLimit The variable to store the highest voltage limit. |
| GIPetrou | 1:5f537df9dca8 | 411 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 412 | */ |
| GIPetrou | 1:5f537df9dca8 | 413 | uint8_t GetHighestVoltageLimit(uint8_t servoId, uint8_t *highestVoltageLimit); |
| GIPetrou | 1:5f537df9dca8 | 414 | |
| GIPetrou | 1:5f537df9dca8 | 415 | /** Set the servo highest voltage limit. |
| GIPetrou | 1:5f537df9dca8 | 416 | * |
| GIPetrou | 1:5f537df9dca8 | 417 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 418 | * @param highestVoltageLimit The servo highest voltage limit. |
| GIPetrou | 1:5f537df9dca8 | 419 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 420 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 421 | */ |
| GIPetrou | 1:5f537df9dca8 | 422 | uint8_t SetHighestVoltageLimit(uint8_t servoId, uint8_t highestVoltageLimit, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 423 | |
| GIPetrou | 1:5f537df9dca8 | 424 | /** Get the servo max torque. |
| GIPetrou | 1:5f537df9dca8 | 425 | * |
| GIPetrou | 1:5f537df9dca8 | 426 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 427 | * @param maxTorque The variable to store the max torque. |
| GIPetrou | 1:5f537df9dca8 | 428 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 429 | */ |
| GIPetrou | 1:5f537df9dca8 | 430 | uint8_t GetMaxTorque(uint8_t servoId, uint16_t *maxTorque); |
| GIPetrou | 1:5f537df9dca8 | 431 | |
| GIPetrou | 1:5f537df9dca8 | 432 | /** Set the servo max torque. |
| GIPetrou | 1:5f537df9dca8 | 433 | * |
| GIPetrou | 1:5f537df9dca8 | 434 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 435 | * @param maxTorque The servo max torque. |
| GIPetrou | 1:5f537df9dca8 | 436 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 437 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 438 | */ |
| GIPetrou | 1:5f537df9dca8 | 439 | uint8_t SetMaxTorque(uint8_t servoId, uint16_t maxTorque, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 440 | |
| GIPetrou | 1:5f537df9dca8 | 441 | /** Get the servo status return level. |
| GIPetrou | 1:5f537df9dca8 | 442 | * |
| GIPetrou | 1:5f537df9dca8 | 443 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 444 | * @param statusReturnLevel The variable to store the status return level. |
| GIPetrou | 1:5f537df9dca8 | 445 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 446 | */ |
| GIPetrou | 1:5f537df9dca8 | 447 | uint8_t GetStatusReturnLevel(uint8_t servoId, uint8_t *statusReturnLevel); |
| GIPetrou | 1:5f537df9dca8 | 448 | |
| GIPetrou | 1:5f537df9dca8 | 449 | /** Set the servo status return level. |
| GIPetrou | 1:5f537df9dca8 | 450 | * |
| GIPetrou | 1:5f537df9dca8 | 451 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 452 | * @param statusReturnLevel The servo status return level. |
| GIPetrou | 1:5f537df9dca8 | 453 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 454 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 455 | */ |
| GIPetrou | 1:5f537df9dca8 | 456 | uint8_t SetStatusReturnLevel(uint8_t servoId, uint8_t statusReturnLevel, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 457 | |
| GIPetrou | 1:5f537df9dca8 | 458 | /** Get the servo alarm LED. |
| GIPetrou | 1:5f537df9dca8 | 459 | * |
| GIPetrou | 1:5f537df9dca8 | 460 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 461 | * @param alarmLED The variable to store the alarm LED. |
| GIPetrou | 1:5f537df9dca8 | 462 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 463 | */ |
| GIPetrou | 1:5f537df9dca8 | 464 | uint8_t GetAlarmLED(uint8_t servoId, uint8_t *alarmLED); |
| GIPetrou | 1:5f537df9dca8 | 465 | |
| GIPetrou | 1:5f537df9dca8 | 466 | /** Set the servo alarm LED. |
| GIPetrou | 1:5f537df9dca8 | 467 | * |
| GIPetrou | 1:5f537df9dca8 | 468 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 469 | * @param alarmLED The servo alarm LED. |
| GIPetrou | 1:5f537df9dca8 | 470 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 471 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 472 | */ |
| GIPetrou | 1:5f537df9dca8 | 473 | uint8_t SetAlarmLED(uint8_t servoId, uint8_t alarmLED, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 474 | |
| GIPetrou | 1:5f537df9dca8 | 475 | /** Get the servo alarm shutdown. |
| GIPetrou | 1:5f537df9dca8 | 476 | * |
| GIPetrou | 1:5f537df9dca8 | 477 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 478 | * @param alarmShutdown The variable to store the alarm shutdown. |
| GIPetrou | 1:5f537df9dca8 | 479 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 480 | */ |
| GIPetrou | 1:5f537df9dca8 | 481 | uint8_t GetAlarmShutdown(uint8_t servoId, uint8_t *alarmShutdown); |
| GIPetrou | 1:5f537df9dca8 | 482 | |
| GIPetrou | 1:5f537df9dca8 | 483 | /** Set the servo alarm shutdown. |
| GIPetrou | 1:5f537df9dca8 | 484 | * |
| GIPetrou | 1:5f537df9dca8 | 485 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 486 | * @param alarmShutdown The servo alarm shutdown. |
| GIPetrou | 1:5f537df9dca8 | 487 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 488 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 489 | */ |
| GIPetrou | 1:5f537df9dca8 | 490 | uint8_t SetAlarmShutdown(uint8_t servoId, uint8_t alarmShutdown, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 491 | |
| GIPetrou | 1:5f537df9dca8 | 492 | /** Get the servo enable torque. |
| GIPetrou | 1:5f537df9dca8 | 493 | * |
| GIPetrou | 1:5f537df9dca8 | 494 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 495 | * @param enableTorque The variable to store the enable torque. |
| GIPetrou | 1:5f537df9dca8 | 496 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 497 | */ |
| GIPetrou | 1:5f537df9dca8 | 498 | uint8_t GetEnableTorque(uint8_t servoId, uint8_t *enableTorque); |
| GIPetrou | 1:5f537df9dca8 | 499 | |
| GIPetrou | 1:5f537df9dca8 | 500 | /** Set the servo enable torque. |
| GIPetrou | 1:5f537df9dca8 | 501 | * |
| GIPetrou | 1:5f537df9dca8 | 502 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 503 | * @param enableTorque The servo enable torque. |
| GIPetrou | 1:5f537df9dca8 | 504 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 505 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 506 | */ |
| GIPetrou | 1:5f537df9dca8 | 507 | uint8_t SetEnableTorque(uint8_t servoId, uint8_t enableTorque, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 508 | |
| GIPetrou | 1:5f537df9dca8 | 509 | /** Get the servo enable LED. |
| GIPetrou | 1:5f537df9dca8 | 510 | * |
| GIPetrou | 1:5f537df9dca8 | 511 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 512 | * @param enableLED The variable to store the enable LED. |
| GIPetrou | 1:5f537df9dca8 | 513 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 514 | */ |
| GIPetrou | 1:5f537df9dca8 | 515 | uint8_t GetEnableLED(uint8_t servoId, uint8_t *enableLED); |
| GIPetrou | 1:5f537df9dca8 | 516 | |
| GIPetrou | 1:5f537df9dca8 | 517 | /** Set the servo enable LED. |
| GIPetrou | 1:5f537df9dca8 | 518 | * |
| GIPetrou | 1:5f537df9dca8 | 519 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 520 | * @param enableLED The servo enable LED. |
| GIPetrou | 1:5f537df9dca8 | 521 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 522 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 523 | */ |
| GIPetrou | 1:5f537df9dca8 | 524 | uint8_t SetEnableLED(uint8_t servoId, uint8_t enableLED, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 525 | |
| GIPetrou | 1:5f537df9dca8 | 526 | /** Get the servo P gain. |
| GIPetrou | 1:5f537df9dca8 | 527 | * |
| GIPetrou | 1:5f537df9dca8 | 528 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 529 | * @param pGain The variable to store the P gain. |
| GIPetrou | 1:5f537df9dca8 | 530 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 531 | */ |
| GIPetrou | 1:5f537df9dca8 | 532 | uint8_t GetPGain(uint8_t servoId, uint8_t *pGain); |
| GIPetrou | 1:5f537df9dca8 | 533 | |
| GIPetrou | 1:5f537df9dca8 | 534 | /** Set the servo P gain. |
| GIPetrou | 1:5f537df9dca8 | 535 | * |
| GIPetrou | 1:5f537df9dca8 | 536 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 537 | * @param pGain The servo P gain. |
| GIPetrou | 1:5f537df9dca8 | 538 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 539 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 540 | */ |
| GIPetrou | 1:5f537df9dca8 | 541 | uint8_t SetPGain(uint8_t servoId, uint8_t pGain, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 542 | |
| GIPetrou | 1:5f537df9dca8 | 543 | /** Get the servo I gain. |
| GIPetrou | 1:5f537df9dca8 | 544 | * |
| GIPetrou | 1:5f537df9dca8 | 545 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 546 | * @param iGain The variable to store the I gain. |
| GIPetrou | 1:5f537df9dca8 | 547 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 548 | */ |
| GIPetrou | 1:5f537df9dca8 | 549 | uint8_t GetIGain(uint8_t servoId, uint8_t *iGain); |
| GIPetrou | 1:5f537df9dca8 | 550 | |
| GIPetrou | 1:5f537df9dca8 | 551 | /** Set the servo I gain. |
| GIPetrou | 1:5f537df9dca8 | 552 | * |
| GIPetrou | 1:5f537df9dca8 | 553 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 554 | * @param iGain The servo I gain. |
| GIPetrou | 1:5f537df9dca8 | 555 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 556 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 557 | */ |
| GIPetrou | 1:5f537df9dca8 | 558 | uint8_t SetIGain(uint8_t servoId, uint8_t iGain, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 559 | |
| GIPetrou | 1:5f537df9dca8 | 560 | /** Get the servo D gain. |
| GIPetrou | 1:5f537df9dca8 | 561 | * |
| GIPetrou | 1:5f537df9dca8 | 562 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 563 | * @param dGain The variable to store the D gain. |
| GIPetrou | 1:5f537df9dca8 | 564 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 565 | */ |
| GIPetrou | 1:5f537df9dca8 | 566 | uint8_t GetDGain(uint8_t servoId, uint8_t *dGain); |
| GIPetrou | 1:5f537df9dca8 | 567 | |
| GIPetrou | 1:5f537df9dca8 | 568 | /** Set the servo D gain. |
| GIPetrou | 1:5f537df9dca8 | 569 | * |
| GIPetrou | 1:5f537df9dca8 | 570 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 571 | * @param dGain The servo D gain. |
| GIPetrou | 1:5f537df9dca8 | 572 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 573 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 574 | */ |
| GIPetrou | 1:5f537df9dca8 | 575 | uint8_t SetDGain(uint8_t servoId, uint8_t dGain, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 576 | |
| GIPetrou | 1:5f537df9dca8 | 577 | /** Get the servo goal position. |
| GIPetrou | 1:5f537df9dca8 | 578 | * |
| GIPetrou | 1:5f537df9dca8 | 579 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 580 | * @param goalPosition The variable to store the goal position. |
| GIPetrou | 1:5f537df9dca8 | 581 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 582 | */ |
| GIPetrou | 1:5f537df9dca8 | 583 | uint8_t GetGoalPosition(uint8_t servoId, uint16_t *goalPosition); |
| GIPetrou | 1:5f537df9dca8 | 584 | |
| GIPetrou | 1:5f537df9dca8 | 585 | /** Set the servo goal position. |
| GIPetrou | 1:5f537df9dca8 | 586 | * |
| GIPetrou | 1:5f537df9dca8 | 587 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 588 | * @param goalPosition The servo goal position. |
| GIPetrou | 1:5f537df9dca8 | 589 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 590 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 591 | */ |
| GIPetrou | 1:5f537df9dca8 | 592 | uint8_t SetGoalPosition(uint8_t servoId, uint16_t goalPosition, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 593 | |
| GIPetrou | 1:5f537df9dca8 | 594 | /** Get the servo moving speed. |
| GIPetrou | 1:5f537df9dca8 | 595 | * |
| GIPetrou | 1:5f537df9dca8 | 596 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 597 | * @param movingSpeed The variable to store the moving speed. |
| GIPetrou | 1:5f537df9dca8 | 598 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 599 | */ |
| GIPetrou | 1:5f537df9dca8 | 600 | uint8_t GetMovingSpeed(uint8_t servoId, uint16_t *movingSpeed); |
| GIPetrou | 1:5f537df9dca8 | 601 | |
| GIPetrou | 1:5f537df9dca8 | 602 | /** Set the servo moving speed. |
| GIPetrou | 1:5f537df9dca8 | 603 | * |
| GIPetrou | 1:5f537df9dca8 | 604 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 605 | * @param movingSpeed The servo moving speed. |
| GIPetrou | 1:5f537df9dca8 | 606 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 607 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 608 | */ |
| GIPetrou | 1:5f537df9dca8 | 609 | uint8_t SetMovingSpeed(uint8_t servoId, uint16_t movingSpeed, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 610 | |
| GIPetrou | 1:5f537df9dca8 | 611 | /** Get the servo torque limit. |
| GIPetrou | 1:5f537df9dca8 | 612 | * 0 to 1023 (0x3FF) is available, and the unit is about 0.1%. |
| GIPetrou | 1:5f537df9dca8 | 613 | * For example, if the value is 512, it is about 50%; that means only 50% of the maximum torque will be used. |
| GIPetrou | 1:5f537df9dca8 | 614 | * If the power is turned on, the value of Max Torque (Address 14, 15) is used as the initial value. |
| GIPetrou | 1:5f537df9dca8 | 615 | * |
| GIPetrou | 1:5f537df9dca8 | 616 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 617 | * @param torqueLimit The variable to store the torque limit. |
| GIPetrou | 1:5f537df9dca8 | 618 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 619 | */ |
| GIPetrou | 1:5f537df9dca8 | 620 | uint8_t GetTorqueLimit(uint8_t servoId, uint16_t *torqueLimit); |
| GIPetrou | 1:5f537df9dca8 | 621 | |
| GIPetrou | 1:5f537df9dca8 | 622 | /** Set the servo torque limit. |
| GIPetrou | 1:5f537df9dca8 | 623 | * |
| GIPetrou | 1:5f537df9dca8 | 624 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 625 | * @param torqueLimit The servo torque limit. |
| GIPetrou | 1:5f537df9dca8 | 626 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 627 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 628 | */ |
| GIPetrou | 1:5f537df9dca8 | 629 | uint8_t SetTorqueLimit(uint8_t servoId, uint16_t torqueLimit, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 630 | |
| GIPetrou | 1:5f537df9dca8 | 631 | /** Get the servo present position. |
| GIPetrou | 1:5f537df9dca8 | 632 | * The range of the value is 0~4095 (0xFFF), and the unit is 0.088 degree. |
| GIPetrou | 1:5f537df9dca8 | 633 | * |
| GIPetrou | 1:5f537df9dca8 | 634 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 635 | * @param presentPosition The variable to store the present position. |
| GIPetrou | 1:5f537df9dca8 | 636 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 637 | */ |
| GIPetrou | 1:5f537df9dca8 | 638 | uint8_t GetPresentPosition(uint8_t servoId, uint16_t *presentPosition); |
| GIPetrou | 1:5f537df9dca8 | 639 | |
| GIPetrou | 1:5f537df9dca8 | 640 | /** Get the servo present speed. |
| GIPetrou | 1:5f537df9dca8 | 641 | * 0~2047 (0x000~0X7FF) can be used. |
| GIPetrou | 1:5f537df9dca8 | 642 | * If a value is in the rage of 0~1023 then the motor rotates to the CCW direction. |
| GIPetrou | 1:5f537df9dca8 | 643 | * If a value is in the rage of 1024~2047 then the motor rotates to the CW direction. |
| GIPetrou | 1:5f537df9dca8 | 644 | * The 10th bit becomes the direction bit to control the direction; 0 and 1024 are equal. |
| GIPetrou | 1:5f537df9dca8 | 645 | * The value unit is about 0.11rpm. |
| GIPetrou | 1:5f537df9dca8 | 646 | * For example, if it is set to 300 then the motor is moving to the CCW direction at a rate of about 34.33rpm. |
| GIPetrou | 1:5f537df9dca8 | 647 | * |
| GIPetrou | 1:5f537df9dca8 | 648 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 649 | * @param presentSpeed The variable to store the present speed. |
| GIPetrou | 1:5f537df9dca8 | 650 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 651 | */ |
| GIPetrou | 1:5f537df9dca8 | 652 | uint8_t GetPresentSpeed(uint8_t servoId, uint16_t *presentSpeed); |
| GIPetrou | 1:5f537df9dca8 | 653 | |
| GIPetrou | 1:5f537df9dca8 | 654 | /** Get the servo present load. |
| GIPetrou | 1:5f537df9dca8 | 655 | * The range of the value is 0~2047, and the unit is about 0.1%. |
| GIPetrou | 1:5f537df9dca8 | 656 | * If the value is 0~1023, it means the load works to the CCW direction. |
| GIPetrou | 1:5f537df9dca8 | 657 | * If the value is 1024~2047, it means the load works to the CW direction. |
| GIPetrou | 1:5f537df9dca8 | 658 | * That is, the 10th bit becomes the direction bit to control the direction, and 1024 is equal to 0. |
| GIPetrou | 1:5f537df9dca8 | 659 | * For example, the value is 512, it means the load is detected in the direction of CCW about 50% of the maximum torque. |
| GIPetrou | 1:5f537df9dca8 | 660 | * |
| GIPetrou | 1:5f537df9dca8 | 661 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 662 | * @param presentLoad The variable to store the present load. |
| GIPetrou | 1:5f537df9dca8 | 663 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 664 | */ |
| GIPetrou | 1:5f537df9dca8 | 665 | uint8_t GetPresentLoad(uint8_t servoId, uint16_t *presentLoad); |
| GIPetrou | 1:5f537df9dca8 | 666 | |
| GIPetrou | 1:5f537df9dca8 | 667 | /** Get the servo present voltage. |
| GIPetrou | 1:5f537df9dca8 | 668 | * This value is 10 times larger than the actual voltage. |
| GIPetrou | 1:5f537df9dca8 | 669 | * For example, when 10V is supplied, the data value is 100 (0x64) |
| GIPetrou | 1:5f537df9dca8 | 670 | * |
| GIPetrou | 1:5f537df9dca8 | 671 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 672 | * @param presentVoltage The variable to store the present voltage. |
| GIPetrou | 1:5f537df9dca8 | 673 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 674 | */ |
| GIPetrou | 1:5f537df9dca8 | 675 | uint8_t GetPresentVoltage(uint8_t servoId, uint8_t *presentVoltage); |
| GIPetrou | 1:5f537df9dca8 | 676 | |
| GIPetrou | 1:5f537df9dca8 | 677 | /** Get the servo present temperature. |
| GIPetrou | 1:5f537df9dca8 | 678 | * It is the internal temperature of Dynamixel in Celsius. |
| GIPetrou | 1:5f537df9dca8 | 679 | * Data value is identical to the actual temperature in Celsius. |
| GIPetrou | 1:5f537df9dca8 | 680 | * For example, if the data value is 85 (0x55), the current internal temperature is 85℃. |
| GIPetrou | 1:5f537df9dca8 | 681 | * |
| GIPetrou | 1:5f537df9dca8 | 682 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 683 | * @param presentTemperature The variable to store the present temperature. |
| GIPetrou | 1:5f537df9dca8 | 684 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 685 | */ |
| GIPetrou | 1:5f537df9dca8 | 686 | uint8_t GetPresentTemperature(uint8_t servoId, uint8_t *presentTemperature); |
| GIPetrou | 1:5f537df9dca8 | 687 | |
| GIPetrou | 1:5f537df9dca8 | 688 | /** Get if there are commands transmitted by MX28_REG_WRITE. |
| GIPetrou | 1:5f537df9dca8 | 689 | * 0 There are no commands transmitted by REG_WRITE. |
| GIPetrou | 1:5f537df9dca8 | 690 | * 1 There are commands transmitted by REG_WRITE. |
| GIPetrou | 1:5f537df9dca8 | 691 | * |
| GIPetrou | 1:5f537df9dca8 | 692 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 693 | * @param isRegistered The variable to store if it is registered. |
| GIPetrou | 1:5f537df9dca8 | 694 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 695 | */ |
| GIPetrou | 1:5f537df9dca8 | 696 | uint8_t GetIsRegistered(uint8_t servoId, uint8_t *isRegistered); |
| GIPetrou | 1:5f537df9dca8 | 697 | |
| GIPetrou | 1:5f537df9dca8 | 698 | /** Get if the servo is moving. |
| GIPetrou | 1:5f537df9dca8 | 699 | * 0 Goal position command execution is completed. |
| GIPetrou | 1:5f537df9dca8 | 700 | * 1 Goal position command execution is in progress. |
| GIPetrou | 1:5f537df9dca8 | 701 | * |
| GIPetrou | 1:5f537df9dca8 | 702 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 703 | * @param isMoving The variable to store if the servo is moving. |
| GIPetrou | 1:5f537df9dca8 | 704 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 705 | */ |
| GIPetrou | 1:5f537df9dca8 | 706 | uint8_t GetIsMoving(uint8_t servoId, uint8_t *isMoving); |
| GIPetrou | 1:5f537df9dca8 | 707 | |
| GIPetrou | 1:5f537df9dca8 | 708 | /** Get if the servo EEPROM is locked. |
| GIPetrou | 1:5f537df9dca8 | 709 | * 0 EEPROM area can be modified. |
| GIPetrou | 1:5f537df9dca8 | 710 | * 1 EEPROM area cannot be modified. |
| GIPetrou | 1:5f537df9dca8 | 711 | * |
| GIPetrou | 1:5f537df9dca8 | 712 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 713 | * @param isLock The variable to store if the servo EEPROM is locked. |
| GIPetrou | 1:5f537df9dca8 | 714 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 715 | */ |
| GIPetrou | 1:5f537df9dca8 | 716 | uint8_t GetIsLocked(uint8_t servoId, uint8_t *isLocked); |
| GIPetrou | 1:5f537df9dca8 | 717 | |
| GIPetrou | 1:5f537df9dca8 | 718 | /** Set if the servo EEPROM is locked. |
| GIPetrou | 1:5f537df9dca8 | 719 | * |
| GIPetrou | 1:5f537df9dca8 | 720 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 721 | * @param isLocked The variable to store if the servo EEPROM is locked. |
| GIPetrou | 1:5f537df9dca8 | 722 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 723 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 724 | */ |
| GIPetrou | 1:5f537df9dca8 | 725 | uint8_t SetIsLocked(uint8_t servoId, uint8_t isLocked, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 726 | |
| GIPetrou | 1:5f537df9dca8 | 727 | /** Get the servo punch. |
| GIPetrou | 1:5f537df9dca8 | 728 | * Can choose vales from 0x00 to 0x3FF. |
| GIPetrou | 1:5f537df9dca8 | 729 | * |
| GIPetrou | 1:5f537df9dca8 | 730 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 731 | * @param punch The variable to store the servo punch. |
| GIPetrou | 1:5f537df9dca8 | 732 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 733 | */ |
| GIPetrou | 1:5f537df9dca8 | 734 | uint8_t GetPunch(uint8_t servoId, uint16_t *punch); |
| GIPetrou | 1:5f537df9dca8 | 735 | |
| GIPetrou | 1:5f537df9dca8 | 736 | /** Set the servo punch. |
| GIPetrou | 1:5f537df9dca8 | 737 | * |
| GIPetrou | 1:5f537df9dca8 | 738 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 739 | * @param punch The servo punch value. |
| GIPetrou | 1:5f537df9dca8 | 740 | * @param isRegWrite If the command will be registered. |
| GIPetrou | 1:5f537df9dca8 | 741 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 742 | */ |
| GIPetrou | 1:5f537df9dca8 | 743 | uint8_t SetPunch(uint8_t servoId, uint16_t punch, bool isRegWrite = false); |
| GIPetrou | 1:5f537df9dca8 | 744 | |
| GIPetrou | 1:5f537df9dca8 | 745 | /** Ping the servo. |
| GIPetrou | 1:5f537df9dca8 | 746 | * No action. Used for obtaining a Status Packet. |
| GIPetrou | 1:5f537df9dca8 | 747 | * |
| GIPetrou | 1:5f537df9dca8 | 748 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 749 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 750 | */ |
| GIPetrou | 1:5f537df9dca8 | 751 | uint8_t Ping(uint8_t servoId); |
| GIPetrou | 1:5f537df9dca8 | 752 | |
| GIPetrou | 1:5f537df9dca8 | 753 | /** Reset the servo. |
| GIPetrou | 1:5f537df9dca8 | 754 | * Changes the control table values of the Dynamixel actuator |
| GIPetrou | 1:5f537df9dca8 | 755 | * to the Factory Default Value settings |
| GIPetrou | 1:5f537df9dca8 | 756 | * |
| GIPetrou | 1:5f537df9dca8 | 757 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 758 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 759 | */ |
| GIPetrou | 1:5f537df9dca8 | 760 | uint8_t Reset(uint8_t servoId); |
| GIPetrou | 1:5f537df9dca8 | 761 | |
| GIPetrou | 1:5f537df9dca8 | 762 | /** Trigger the servo. |
| GIPetrou | 1:5f537df9dca8 | 763 | * Triggers the action registered by the REG_WRITE instruction |
| GIPetrou | 1:5f537df9dca8 | 764 | * |
| GIPetrou | 1:5f537df9dca8 | 765 | * @param servoId The servo id. |
| GIPetrou | 1:5f537df9dca8 | 766 | * @return MX28_ERRBIT_NONE if succeeded, error code otherwise. |
| GIPetrou | 1:5f537df9dca8 | 767 | */ |
| GIPetrou | 1:5f537df9dca8 | 768 | uint8_t Action(uint8_t servoId); |
| GIPetrou | 1:5f537df9dca8 | 769 | |
| GIPetrou | 1:5f537df9dca8 | 770 | /** Create an MX28 servo object connected to the specified serial half duplex pins, |
| GIPetrou | 1:5f537df9dca8 | 771 | * with the specified baudrate. |
| GIPetrou | 1:5f537df9dca8 | 772 | * |
| GIPetrou | 1:5f537df9dca8 | 773 | * @param tx Send pin. |
| GIPetrou | 1:5f537df9dca8 | 774 | * @param rx Receive pin. |
| GIPetrou | 1:5f537df9dca8 | 775 | * @param baudrate The bus speed. |
| GIPetrou | 1:5f537df9dca8 | 776 | */ |
| GIPetrou | 1:5f537df9dca8 | 777 | MX28(PinName tx, PinName rx, int baudRate); |
| GIPetrou | 1:5f537df9dca8 | 778 | |
| GIPetrou | 1:5f537df9dca8 | 779 | /** Destroy an MX28 servo object |
| GIPetrou | 1:5f537df9dca8 | 780 | */ |
| GIPetrou | 1:5f537df9dca8 | 781 | ~MX28(); |
| GIPetrou | 1:5f537df9dca8 | 782 | }; |
| GIPetrou | 1:5f537df9dca8 | 783 | |
| GIPetrou | 0:ea5b951002cf | 784 | #endif // MX28_H |