Diff: AX12-V2/AX12-V2.h

Revision:

0:ad97421fb1fb

Child:

1:116040d14164

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12-V2/AX12-V2.h	Wed Apr 13 22:04:54 2016 +0000
@@ -0,0 +1,127 @@
+#ifndef CRAC_AX12
+#define CRAC_AX12
+
+#include "global.h"
+
+#define MAX_AX12 30
+
+
+#define AX12_REG_ID 0x03
+#define AX12_REG_BAUD 0x04
+#define AX12_REG_DELAY_TIME 0x05
+#define AX12_REG_CW_LIMIT 0x06
+#define AX12_REG_CCW_LIMIT 0x08
+#define AX12_REG_TEMP_MAX 0x0B
+#define AX12_REG_LOWEST_VOLTAGE 0x0C
+#define AX12_REG_HIGHEST_VOLTAGE 0x0D
+#define AX12_REG_MAX_TORQUE 0x0E
+#define AX12_REG_SATUS_RETURN 0x10
+#define AX12_REG_ALARM_LED 0x11
+#define AX12_REG_ALARM_SHUTDOWN 0x12
+#define AX12_REG_DOWN_CALIBRATION 0x14
+#define AX12_REG_UP_CALIBRATION 0x16
+#define AX12_REG_TORQUE_ENABLE 0x18
+#define AX12_REG_LED 0x19
+#define AX12_REG_CW_MARGIN 0x1A
+#define AX12_REG_CCW_MARGIN 0x1B
+#define AX12_REG_CW_SLOPE 0x1C
+#define AX12_REG_CCW_SLOPE 0x1D
+#define AX12_REG_GOAL_POSITION 0x1E
+#define AX12_REG_MOVING_SPEED 0x20
+#define AX12_REG_TORQUE_LIMIT 0x22
+#define AX12_REG_POSITION 0x24
+#define AX12_REG_PRESENT_SPEED 0x26
+#define AX12_REG_PRESENT_LOAD 0x28
+#define AX12_REG_VOLTS 0x2A
+#define AX12_REG_TEMP 0x2B
+#define AX12_REG_INSTRUCTION 0x2C
+#define AX12_REG_MOVING 0x2E
+#define AX12_REG_LOCK 0x2F
+#define AX12_REG_PUNCH 0x30
+
+
+#define AX12_MODE_POSITION  0
+#define AX12_MODE_ROTATION  1
+
+#define AX12_CW 1
+#define AX12_CCW 0
+
+//--- Instruction ---
+#define INST_PING 0x01
+#define INST_READ 0x02
+#define INST_WRITE 0x03
+#define INST_REG_WRITE 0x04
+#define INST_ACTION 0x05
+#define INST_RESET 0x06
+#define INST_DIGITAL_RESET 0x07
+#define INST_SYSTEM_READ 0x0C
+#define INST_SYSTEM_WRITE 0x0D
+#define INST_SYNC_WRITE 0x83
+#define INST_SYNC_REG_WRITE 0x84
+
+#define DEFAULT_RETURN_PACKET_SIZE 6
+
+#define BROADCASTING_ID 0xfe
+
+#define MAX_TIMEOUT 5000
+
+struct S_AX12 {
+    unsigned char id;//L'id de l'AX12
+    unsigned short goal;//La position ou doit aller le robot
+    unsigned short speed;//La vitesse de déplacement du bras    
+    unsigned char isUsingCAN;//Indique si il faut envoyer les information via CAN (0=>non | autre=>oui)
+    unsigned char needToUpdate;//Indique qu'il faut mettre à jour la position
+};
+
+/****************************************************************************************/
+/* FUNCTION NAME: AX12_register                                                         */
+/* DESCRIPTION  : Indiquer qu'un AX12 est connecté à la carte                           */
+/****************************************************************************************/
+void AX12_register(unsigned char id, unsigned short speed = 0x3FF);
+
+/****************************************************************************************/
+/* FUNCTION NAME: AX12_setGoal                                                          */
+/* DESCRIPTION  : Definir la position d'un ax12, !!Ne déclanche pas le mouvement        */
+/****************************************************************************************/
+void AX12_setGoal(unsigned char id, unsigned short goal, unsigned short speed = 0x3FF);
+
+/****************************************************************************************/
+/* FUNCTION NAME: AX12_isLocal                                                          */
+/* DESCRIPTION  : Savoir si un AX12 est enregistré sur la carte                         */
+/****************************************************************************************/
+unsigned char AX12_isLocal(unsigned char id);
+
+/****************************************************************************************/
+/* FUNCTION NAME: AX12_getLocalID                                                       */
+/* DESCRIPTION  : Obtenir les info sur un AX12 ou l'initialiser si non présent          */
+/****************************************************************************************/
+int AX12_getLocalID(unsigned char id);
+
+/****************************************************************************************/
+/* FUNCTION NAME: AX12_doLoop                                                           */
+/* DESCRIPTION  : Boucle de vérification de la position des AX12                        */
+/****************************************************************************************/
+void AX12_doLoop(void);
+
+
+/****************************************************************************************/
+/* FUNCTION NAME: AX12_processChange                                                    */
+/* DESCRIPTION  : Permet de prendre en compte les changement d'instruction des AX12     */
+/*    Début du mouvement à partir de l'appel de cette fonction                          */
+/****************************************************************************************/
+void AX12_processChange(void);
+
+/****************************************************************************************/
+/* FUNCTION NAME: AX12_syncWrite                                                        */
+/* DESCRIPTION  : Fonction pour envoyer des trames aux AX12 en mode syncWrite           */
+/****************************************************************************************/
+int AX12_syncWrite(int start, int bytes, char* data);
+
+/****************************************************************************************/
+/* FUNCTION NAME: AX12_write                                                            */
+/* DESCRIPTION  : Fonction pour envoyer des trames aux AX12                             */
+/****************************************************************************************/
+int AX12_write(int ID, int start, int bytes, char* data, int flag=0);
+
+#endif
+