AX12.h

00001 /* mbed AX-12+ Servo Library
00002  *
00003  * Copyright (c) 2010, cstyles (http://mbed.org)
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  */
00023 
00024 
00025 
00026 
00027 #ifndef MBED_AX12_H
00028 #define MBED_AX12_H
00029 
00030 #include "global.h"
00031 
00032 //#define AX12_WRITE_DEBUG 0
00033 //#define AX12_READ_DEBUG   
00034 //#define AX12_TRIGGER_DEBUG 0
00035 //#define AX12_DEBUG 0
00036 
00037 /****** à utiliser pour le debug !!  ******/
00038 
00039 //#define AX12_DEBUG_WRITE 0
00040 //#define AX12_DEBUG_READ 0
00041 
00042 /******************************************/
00043 
00044 
00045 
00046 
00047 #define AX12_REG_ID 0x03
00048 #define AX12_REG_BAUD 0x04
00049 #define AX12_REG_DELAY_TIME 0x05
00050 #define AX12_REG_CW_LIMIT 0x06
00051 #define AX12_REG_CCW_LIMIT 0x08
00052 #define AX12_REG_TEMP_MAX 0x0B
00053 #define AX12_REG_LOWEST_VOLTAGE 0x0C
00054 #define AX12_REG_HIGHEST_VOLTAGE 0x0D
00055 #define AX12_REG_MAX_TORQUE 0x0E
00056 #define AX12_REG_SATUS_RETURN 0x10
00057 #define AX12_REG_ALARM_LED 0x11
00058 #define AX12_REG_ALARM_SHUTDOWN 0x12
00059 #define AX12_REG_DOWN_CALIBRATION 0x14
00060 #define AX12_REG_UP_CALIBRATION 0x16
00061 #define AX12_REG_TORQUE_ENABLE 0x18
00062 #define AX12_REG_LED 0x19
00063 #define AX12_REG_CW_MARGIN 0x1A
00064 #define AX12_REG_CCW_MARGIN 0x1B
00065 #define AX12_REG_CW_SLOPE 0x1C
00066 #define AX12_REG_CCW_SLOPE 0x1D
00067 #define AX12_REG_GOAL_POSITION 0x1E
00068 #define AX12_REG_MOVING_SPEED 0x20
00069 #define AX12_REG_TORQUE_LIMIT 0x22
00070 #define AX12_REG_POSITION 0x24
00071 #define AX12_REG_PRESENT_SPEED 0x26
00072 #define AX12_REG_PRESENT_LOAD 0x28
00073 #define AX12_REG_VOLTS 0x2A
00074 #define AX12_REG_TEMP 0x2B
00075 #define AX12_REG_INSTRUCTION 0x2C
00076 #define AX12_REG_MOVING 0x2E
00077 #define AX12_REG_LOCK 0x2F
00078 #define AX12_REG_PUNCH 0x30
00079 
00080 
00081 #define AX12_MODE_POSITION  0
00082 #define AX12_MODE_ROTATION  1
00083 
00084 #define AX12_CW 1
00085 #define AX12_CCW 0
00086 
00087 //--- Instruction ---
00088 #define INST_PING 0x01
00089 #define INST_READ 0x02
00090 #define INST_WRITE 0x03
00091 #define INST_REG_WRITE 0x04
00092 #define INST_ACTION 0x05
00093 #define INST_RESET 0x06
00094 #define INST_DIGITAL_RESET 0x07
00095 #define INST_SYSTEM_READ 0x0C
00096 #define INST_SYSTEM_WRITE 0x0D
00097 #define INST_SYNC_WRITE 0x83
00098 #define INST_SYNC_REG_WRITE 0x84
00099 
00100 #define DEFAULT_RETURN_PACKET_SIZE 6
00101 
00102 #define BROADCASTING_ID 0xfe
00103 
00104 /** Servo control class, based on a PwmOut
00105  *
00106  * Example:
00107  * @code
00108  * #include "mbed.h"
00109  * #include "AX12.h"
00110  *
00111  * int main() {
00112  *
00113  *   AX12 myax12 (p9, p10, 1);
00114  *
00115  *   while (1) {
00116  *       myax12.SetGoal(0);    // go to 0 degrees
00117  *       wait (2.0);
00118  *       myax12.SetGoal(300);  // go to 300 degrees
00119  *       wait (2.0);
00120  *   }
00121  * }
00122  * @endcode
00123  */
00124 class AX12
00125 {
00126 
00127 public:
00128     
00129     /** Create an AX12 servo object connected to the specified serial port, with the specified ID
00130      *
00131      * @param pin tx pin
00132      * @param pin rx pin
00133      * @param int ID, the Bus ID of the servo 1-255
00134      */
00135     AX12(PinName tx, PinName rx, int ID, int baud=1000000);
00136     
00137     /** Nouvelle fonction de commande de position du servomoteur avec sécurité d'arriver à la bonne position 
00138         Si une erreur se produit et que le servo ne recoit vraiment rien cette fonction dispose d'une sortie en timeout error;
00139     */
00140     int Set_Secure_Goal(int degres);
00141     
00142     /** Retourne le temps d'attente avant l'envoi de la trame de retour par l'actionneur ( en micro seconde )
00143     */
00144     int Get_Return_Delay_Time(void);
00145     
00146     
00147     /** Retourne la vitesse de communication de l'actionneur ( en Bits/seconde )
00148     */
00149     int Get_Baud_Rate(void);
00150     
00151     
00152     /** Reglage du courant minimum necessaire au bon fonctionnement de l'actionneur 
00153     //  minimum >>  Ox000    >>  decimal  0
00154     //  maximum >>  0x3FF    >>  decimal  1023
00155     //  deflaut >>  0x20     >>  decimal  32
00156     */
00157     int Set_Punch(int punch);
00158     
00159     
00160     /** Retourne le courant minimum au fonctionnement de l'actionneur
00161     */
00162     int Get_Punch (void);
00163     
00164     
00165     /** Retourne l'ampleur de la charge sur l'actionneur
00166     */
00167     int Get_Load_Value (void);
00168     
00169     void read_all_info(unsigned char, unsigned char);
00170     
00171     /** Reset
00172     */
00173     int Reset(int);
00174     
00175     /** Retourne la direction de la charge sur l'actionneur
00176     */
00177     int Get_Load_Direction (void);
00178     
00179     
00180     /** Retourne la vitesse angulaire actuelle de l'actionneur
00181     */
00182     int Get_Present_Speed (void);
00183     
00184     
00185     /** Retourne la valeur en degres du registre CCW angle limit qui est l'angle limite maximum de l'actionneur
00186     */
00187     int Get_CCW_Angle_Limit (void);
00188     
00189     
00190     /** Retourne la valeur en degres du registre CW angle limit qui est l'angle limite minimum de l'actionneur
00191     */
00192     int Get_CW_Angle_Limit (void);
00193     
00194     
00195     /** Retourne la valeur du registre Torque Enable 
00196     */
00197     int Get_Torque_Enable(void);
00198     
00199     
00200     /** 
00201     1  >>>  
00202     0  >>>  
00203     */
00204     int Set_Torque_Enable(int etat); 
00205     
00206     
00207     /** Retourne les données de compensation des différences entre les potentiomètres 
00208     utilisés dans l'AX12    (Up)     ????????
00209     */
00210     int Get_Up_Calibration (void);
00211     
00212     
00213     /** Retourne les données de compensation des différences entre les potentiomètres 
00214     utilisés dans l'AX12    (Dowm)     ????????
00215     */
00216     int Get_Down_Calibration(void);
00217     
00218     
00219     /** Retourne l'ID de l'AX_12 avec lequel on dialogue 
00220     utile seulement dans le cas d'un broadcast ID 
00221     */
00222     int Get_ID(void);
00223     
00224     
00225     /** Reglage du couple maximum de l'actionneur 
00226     //  minimum >>  Ox000    >>  decimal  0
00227     //  maximum >>  0x3FF    >>  decimal  1023
00228     //  deflaut >>           >>  decimal  
00229     */
00230     int Set_Max_Torque(int torque);
00231     
00232     
00233     /** Reglage de la desactivation des actionneurs si une erreur le concernant se produit 
00234     Bit                 Function
00235     Bit 7               0
00236     Bit 6               If set to 1, torque off when an Instruction Error occurs 
00237     Bit 5               If set to 1, torque off when an Overload Error occurs 
00238     Bit 4               If set to 1, torque off when a Checksum Error occurs 
00239     Bit 3               If set to 1, torque off when a Range Error occurs 
00240     Bit 2               If set to 1, torque off when an Overheating Error occurs 
00241     Bit 1               If set to 1, torque off when an Angle Limit Error occurs 
00242     Bit 0               If set to 1, torque off when an Input Voltage Error occurs
00243     */
00244     int Set_Alarm_Shutdown(int valeur); 
00245     
00246     
00247     /** Reglage de l'activation de l'alarme
00248     Bit                 Function
00249     Bit 7               0
00250     Bit 6               If set to 1, the LED blinks when an Instruction Error occurs
00251     Bit 5               If set to 1, the LED blinks when an Overload Error occurs
00252     Bit 4               If set to 1, the LED blinks when a Checksum Error occurs
00253     Bit 3               If set to 1, the LED blinks when a Range Error occurs
00254     Bit 2               If set to 1, the LED blinks when an Overheating Error occurs
00255     Bit 1               If set to 1, the LED blinks when an Angle Limit Error occurs
00256     Bit 0               If set to 1, the LED blinks when an Input Voltage Error occurs
00257     */
00258     int Set_Alarm_LED(int valeur);
00259     
00260     
00261     /** Reglage de la réponse à une instruction
00262     * @param mode  
00263     *  0   >>  ne repond a aucune instructions
00264     *  1   >>  repond seulement aux instructions READ_DATA 
00265     *  2   >>  repond à toutes les instructions 
00266     */
00267     int Set_Status_Return_Level(int etat); 
00268     
00269     
00270     /**  Reglage de la tension minimale
00271     * @param mode
00272     *  minimum >>  0x32    >>  decimal  50
00273     *  maximum >>  0xFA    >>  decimal  250
00274     *  deflaut >>  0x3C    >>  decimal  60
00275     */  
00276     int Set_Lowest_Voltage(int val_lowest_voltage); 
00277     
00278     
00279      /**  Reglage de la tension maximale
00280     * @param mode
00281     *  minimum >>  Ox32    >>  decimal  50
00282     *  maximum >>  0xFA    >>  decimal  250
00283     *  deflaut >>  0xBE    >>  decimal  190
00284     */  
00285     int Set_Highest_Voltage(int val_highest_voltage); 
00286     
00287     
00288     // Reglage du return time delay  EN MICRO SECONDE              2uSec * val_delay_time
00289     //  minimum >>  0       us 
00290     //  maximum >>  508     us
00291     //  deflaut >>  125     us
00292     int Set_Delay_Time (int val_delay_time );
00293     
00294     
00295     /** Set Highest Limit Temperature
00296     * @param mode
00297     *    minimum >>  Ox00    >>  decimal  0
00298     *    maximum >>  0x96    >>  decimal  150
00299     */
00300     int Set_Temperature_Max (int val_temperature );
00301     
00302     
00303     
00304     /** Set the state of LED 
00305     * @param mode
00306     *    0 = off, default
00307     *    1 = on 
00308     */  
00309     int Set_Etat_LED(int etat);
00310     
00311     
00312 
00313     /** Set the mode of the servo
00314      * @param mode
00315      *    0 = Positional, default
00316      *    1 = Continuous rotation
00317      */
00318     int Set_Mode(int mode);
00319 
00320     /** Set baud rate of all attached servos
00321      * @param mode
00322      *    0x01 = 1,000,000 bps
00323      *    0x03 =   500,000 bps
00324      *    0x04 =   400,000 bps
00325      *    0x07 =   250,000 bps
00326      *    0x09 =   200,000 bps
00327      *    0x10 =   115,200 bps
00328      *    0x22 =    57,600 bps
00329      *    0x67 =    19,200 bps
00330      *    0xCF =     9,600 bp
00331      */
00332     int Set_Baud(int baud);
00333 
00334 
00335     /** Set goal angle in integer degrees, in positional mode
00336      *
00337      * @param degrees 0-300
00338      * @param flags, defaults to 0
00339      *    flags[0] = blocking, return when goal position reached
00340      *    flags[1] = register, activate with a broadcast trigger
00341      *
00342      */
00343     int Set_Goal(int degrees, int flags = 0);
00344 
00345     int Set_Goal_speed(int degrees, int flags = 0);
00346 
00347     /** Set the speed of the servo in continuous rotation mode
00348      *
00349      * @param speed, -1.0 to 1.0
00350      *   -1.0 = full speed counter clock wise
00351      *    1.0 = full speed clock wise
00352      */
00353     int Set_CR_Speed(float speed);
00354 
00355 
00356     /** Permet de définir l'angle limite minimum de l'actionneur ( prend une valeur d'entrée en degres )
00357     //  minimum >>  0°   
00358     //  maximum >>  300°  
00359     //  deflaut >>  0°        
00360     */
00361     int Set_CW_Angle_Limit(int degrees);
00362 
00363     /** Permet de définir l'angle limite maximum de l'actionneur ( prend une valeur d'entrée en degres )
00364     //  minimum >>  0°   
00365     //  maximum >>  300°  
00366     //  deflaut >>  300°        
00367     */
00368     int Set_CCW_Angle_Limit(int degrees);
00369 
00370     // Change the ID
00371 
00372     /** Change the ID of a servo
00373      *
00374      * @param CurentID 1-255
00375      * @param NewID 1-255
00376      *
00377      * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
00378      * In this situation, only one servo should be connected to the bus
00379      */
00380     int Set_ID(int CurrentID, int NewID);
00381 
00382 
00383     /** Poll to see if the servo is moving
00384      *
00385      * @returns true is the servo is moving
00386      */
00387     int isMoving(void);
00388 
00389     /** Send the broadcast "trigger" command, to activate any outstanding registered commands
00390      */
00391     void trigger(void);
00392 
00393     /** Send the "reset" command, to activate any outstanding registered commands
00394      */
00395     void reset();
00396 
00397     /** Read the current angle of the servo
00398      *
00399      * @returns float in the range 0.0-300.0
00400      */
00401     float Get_Position();
00402 
00403     /** Read the temperature of the servo
00404      *
00405      * @returns float temperature
00406      */
00407     float Get_Temp(void);
00408 
00409     /** Read the supply voltage of the servo
00410      *
00411      * @returns float voltage
00412      */
00413     float Get_Volts(void);
00414     
00415     // Lecture du couple maximum ( retourne la valeur du registre Max Torque de l'AX12 ) 
00416     int Get_Max_Torque (void);
00417     
00418 
00419     int read(int ID, int start, int length, char* data);
00420     int write(int ID, int start, int length, char* data, int flag=0);
00421     void multiple_goal_and_speed(int number_ax12,char* tab);
00422     float read_and_test(float angle,char* Tab);
00423     
00424 private :
00425 
00426     SerialHalfDuplex _ax12;
00427     int _ID;
00428     int _baud;
00429 
00430 
00431 };
00432 
00433 #endif