Revision 2:7f9d2f135591, committed 2015-08-25

Comitter:

soulx

Date:

Tue Aug 25 08:53:41 2015 +0000

Parent:

1:0a652990dab1

Commit message:

test_motor robotic

Changed in this revision

diff -r 0a652990dab1 -r 7f9d2f135591 MX28.lib
--- a/MX28.lib	Fri Oct 24 08:57:50 2014 +0000
+++ b/MX28.lib	Tue Aug 25 08:53:41 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/GIPetrou/code/MX28/#7929abcdc22f
+https://developer.mbed.org/teams/BEaR-lab/code/MX28/#30da84384307

diff -r 0a652990dab1 -r 7f9d2f135591 classproject.cpp
--- a/classproject.cpp	Fri Oct 24 08:57:50 2014 +0000
+++ b/classproject.cpp	Tue Aug 25 08:53:41 2015 +0000
@@ -24,29 +24,235 @@
 void run_mode();
 
 
+int main() 
+ {
+    pc.baud(115200);   
+    
+    pc.getc();
+    pc.printf("======================================================\r\n"); 
+    
+   uint8_t servoId = 0x01;
+    
+    uint16_t modelNumber;        
+    mx28.GetModelNumber(servoId, &modelNumber);
+    
+    uint8_t firmwareVersion;        
+    mx28.GetFirmwareVersion(servoId, &firmwareVersion);
+    
+    uint8_t id;        
+    mx28.GetId(servoId, &id);               
+    mx28.SetId(servoId, servoId);
+    
+    int32_t baudRate;
+    mx28.GetBaudRate(servoId, &baudRate);    
+    mx28.SetBaudRate(servoId, 57600); 
+    
+    uint8_t returnDelayTime;
+    mx28.GetReturnDelayTime(servoId, &returnDelayTime);     
+    mx28.SetReturnDelayTime(servoId, 0xFA); 
+    
+    uint16_t cwAngleLimit;
+    mx28.GetCWAngleLimit(servoId, &cwAngleLimit);
+    mx28.SetCWAngleLimit(servoId, 0x0000);
+    
+    uint16_t ccwAngleLimit;
+    mx28.GetCCWAngleLimit(servoId, &ccwAngleLimit);    
+    mx28.SetCCWAngleLimit(servoId, 0x0FFF);
+    
+    uint8_t highestTemperatureLimit;
+    mx28.GetHighestTemperatureLimit(servoId, &highestTemperatureLimit);       
+    mx28.SetHighestTemperatureLimit(servoId, 0x50);
+    
+    uint8_t downLimitVoltage;
+    mx28.GetLowestVoltageLimit(servoId, &downLimitVoltage);       
+    mx28.SetLowestVoltageLimit(servoId, 0x3C);
+   
+    uint8_t upLimitVoltage;
+    mx28.GetHighestVoltageLimit(servoId, &upLimitVoltage);       
+    mx28.SetHighestVoltageLimit(servoId, 0xA0);
+    
+    uint16_t maxTorque;
+    mx28.GetMaxTorque(servoId, &maxTorque);    
+    mx28.SetMaxTorque(servoId, 0x03FF);
+    
+    uint8_t statusReturnLevel;        
+    mx28.GetStatusReturnLevel(servoId, &statusReturnLevel);
+    mx28.SetStatusReturnLevel(servoId, 0x02);
+    
+    uint8_t alarmLED;        
+    mx28.GetAlarmLED(servoId, &alarmLED);           
+    mx28.SetAlarmLED(servoId, 0x24);
+    
+    uint8_t alarmShutdown;        
+    mx28.GetAlarmShutdown(servoId, &alarmShutdown);           
+    mx28.SetAlarmShutdown(servoId, 0x24); 
+            
+    uint8_t enableTorque;   
+    mx28.GetEnableTorque(servoId, &enableTorque);    
+    mx28.SetEnableTorque(servoId, 0x00);
+    
+    uint8_t enableLED;   
+    mx28.GetEnableLED(servoId, &enableLED);    
+    mx28.SetEnableLED(servoId, 0x00);
+    
+    uint8_t pGain;        
+    mx28.GetPGain(servoId, &pGain);           
+    mx28.SetPGain(servoId, 0x20);
+    
+    uint8_t iGain;        
+    mx28.GetIGain(servoId, &iGain);           
+    mx28.SetIGain(servoId, 0x00);
+    
+    uint8_t dGain;        
+    mx28.GetDGain(servoId, &dGain);           
+    mx28.SetDGain(servoId, 0x00);
+    
+    uint16_t goalPosition;
+    mx28.GetGoalPosition(servoId, &goalPosition);     
+    mx28.SetGoalPosition(servoId, 0x0800);
+    
+    uint16_t movingSpeed;
+    mx28.GetMovingSpeed(servoId, &movingSpeed);     
+    mx28.SetMovingSpeed(servoId, 0x00FF);
+    
+    uint16_t torqueLimit;
+    mx28.GetTorqueLimit(servoId, &torqueLimit);     
+    mx28.SetTorqueLimit(servoId, 0x03FF);
+    
+    uint16_t presentPosition;
+    mx28.GetPresentPosition(servoId, &presentPosition);
+    
+    uint16_t presentSpeed;
+    mx28.GetPresentSpeed(servoId, &presentSpeed); 
+ 
+    uint16_t presentLoad;
+    mx28.GetPresentLoad(servoId, &presentLoad);     
+    
+    uint8_t presentVoltage;        
+    mx28.GetPresentVoltage(servoId, &presentVoltage);
+    
+    uint8_t presentTemperature;        
+    mx28.GetPresentTemperature(servoId, &presentTemperature);
+    
+    uint8_t isRegistered;   
+ 
+    mx28.GetIsRegistered(servoId, &isRegistered);
+    
+    uint8_t isMoving;   
+    mx28.GetIsMoving(servoId, &isMoving);
+    
+    uint8_t lock;        
+    mx28.GetIsLocked(servoId, &lock);           
+    mx28.SetIsLocked(servoId, 0x00); 
+    
+    uint16_t punch;
+    mx28.GetPunch(servoId, &punch);     
+    mx28.SetPunch(servoId, 0x0020);
+    
+    mx28.Ping(servoId);
+    
+    mx28.Reset(servoId);
+    
+    uint8_t servo1Id = 0x01;
+    uint8_t servo2Id = 0x02;
+    uint8_t servo3Id = 0x03;
+    
+    uint16_t servo1GoalPosition = 0x0800;
+    uint16_t servo2GoalPosition = 0x0800;
+    uint16_t servo3GoalPosition = 0x0800;
+    
+    MX28_PROTOCOL_PACKET packet;
+    packet.servoId = MX28_PROTOCOL_BROADCAST_ID;
+    // (Data length + 1) * Number of servos + 4
+    packet.length = (2+ 1) * 3 + 4;             
+    packet.instructionErrorId = MX28_SYNC_WRITE;
+    packet.parameter[0] = MX28_GOAL_POSITION_L;
+    packet.parameter[1] = 0x06;
+    packet.parameter[2] = servo1Id;
+    Utilities::ConvertUInt16ToUInt8Array(servo1GoalPosition, (uint8_t*)&(packet.parameter[3]));    
+    packet.parameter[9] = servo2Id;
+    Utilities::ConvertUInt16ToUInt8Array(servo2GoalPosition, (uint8_t*)&(packet.parameter[10]));
+    packet.parameter[16] = servo3Id;
+    Utilities::ConvertUInt16ToUInt8Array(servo3GoalPosition, (uint8_t*)&(packet.parameter[17]));
+   
+    pc.printf("Set servos goal positions: %hu %hu %hu\r\n", servo1GoalPosition, servo2GoalPosition, servo3GoalPosition);
+    
+    mx28.CommunicatePacket(&packet);
+          
+    packet.servoId = servoId;
+    packet.length = 4;
+    packet.instructionErrorId = MX28_READ_DATA;
+    packet.parameter[0] = MX28_PRESENT_POSITION_L;
+    packet.parameter[1] = 0x08;
+ 
+    mx28.CommunicatePacket(&packet);
+    
+    presentPosition = Utilities::ConvertUInt8ArrayToUInt16(packet.parameter);
+    presentSpeed = Utilities::ConvertUInt8ArrayToUInt16((uint8_t*)&(packet.parameter[2]));   
+    presentLoad = Utilities::ConvertUInt8ArrayToUInt16((uint8_t*)&(packet.parameter[4]));    
+    presentVoltage = packet.parameter[6];
+    presentTemperature = packet.parameter[7];
+        
+    pc.printf("Present position: %hu\r\n", presentPosition);
+    pc.printf("Present speed: %hu\r\n", presentSpeed);
+    pc.printf("Present load: %hu\r\n", presentLoad);
+    pc.printf("Present voltage: 0x%02X\r\n", presentVoltage);
+    pc.printf("Present temperature: 0x%02X\r\n", presentTemperature);             
+        
+    uint8_t status = mx28.GetModelNumber(servoId, &modelNumber);
+   
+    if(status == MX28_ERRBIT_WRITE_TIMEOUT)
+        pc.printf("Error: Write timeout\r\n");
+    else if(status == MX28_ERRBIT_READ_TIMEOUT) 
+        pc.printf("Error: Read timeout\r\n");
+    else if(status == MX28_ERRBIT_MASTER_CHECKSUM) 
+        pc.printf("Error: Master checksum error\r\n");
+    else
+    {
+        if(status & MX28_ERRBIT_VOLTAGE)
+            pc.printf("Error: Input voltage error\r\n");
+        if(status & MX28_ERRBIT_ANGLE)
+            pc.printf("Error: Angle limit error\r\n");
+        if(status & MX28_ERRBIT_OVERHEAT)
+            pc.printf("Error: Overheat error\r\n");
+        if(status & MX28_ERRBIT_RANGE)
+            pc.printf("Error: Out of range error\r\n");
+        if(status & MX28_ERRBIT_CHECKSUM)
+            pc.printf("Error: Checksum error\r\n");
+        if(status & MX28_ERRBIT_OVERLOAD)
+            pc.printf("Error: Overload error\r\n");
+        if(status & MX28_ERRBIT_INSTRUCTION)
+            pc.printf("Error: Instruction code error\r\n");
+    }
+    
+    pc.printf("======================================================\r\n"); 
+ 
+    return 0;           
+ }
+/*
 int main()
 {
-    pc.baud(115200);         
-    pc.printf("======================================================\r\n"); 
-    if(mybutton == 0)
-    {//Setup mode
-        pc.printf("Setup Mode\r\n");    
-        setup_mode();        
-    }
-    else
-    {//Run mode
+    pc.baud(115200);
+    pc.printf("======================================================\r\n");
+    if(mybutton == 0) {
+        //Setup mode
+        pc.printf("Setup Mode\r\n");
+        setup_mode();
+    } else {
+        //Run mode
         pc.printf("Run Mode\r\n");
         run_mode();
     }
-    return 0;    
+    return 0;
 }
 
 void setup_mode()
 {
-    
+
 }
 
 void run_mode()
 {
-    
-}
\ No newline at end of file
+
+}
+*/
\ No newline at end of file

diff -r 0a652990dab1 -r 7f9d2f135591 iSerial.lib
--- a/iSerial.lib	Fri Oct 24 08:57:50 2014 +0000
+++ b/iSerial.lib	Tue Aug 25 08:53:41 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/ykuroda/code/iSerial/#e121a1503afa
+https://developer.mbed.org/teams/BEaR-lab/code/iSerial/#e121a1503afa