Programme d'utilisation des AX12 avec rajout de l'MX12
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Diff: AX12/AX12.h
- Revision:
- 1:f3f702086a30
- Child:
- 2:9d280856a536
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AX12/AX12.h Thu May 11 11:49:50 2017 +0000 @@ -0,0 +1,428 @@ +/* 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. + */ + +#ifndef MBED_AX12_H +#define MBED_AX12_H +#include "SerialHalfDuplex.h" +#include "mbed.h" + +//#define AX12_WRITE_DEBUG 0 +#define AX12_READ_DEBUG +//#define AX12_TRIGGER_DEBUG 0 +#define AX12_DEBUG 0 + +/****** à utiliser pour le debug !! ******/ + +//#define AX12_DEBUG_WRITE 0 +//#define AX12_DEBUG_READ 0 + +/******************************************/ + + +#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 + +/** Servo control class, based on a PwmOut + * + * Example: + * @code + * #include "mbed.h" + * #include "AX12.h" + * + * int main() { + * + * AX12 myax12 (p9, p10, 1); + * + * while (1) { + * myax12.SetGoal(0); // go to 0 degrees + * wait (2.0); + * myax12.SetGoal(300); // go to 300 degrees + * wait (2.0); + * } + * } + * @endcode + */ +class AX12 +{ + +public: + + /** Create an AX12 servo object connected to the specified serial port, with the specified ID + * + * @param pin tx pin + * @param pin rx pin + * @param int ID, the Bus ID of the servo 1-255 + */ + AX12(PinName tx, PinName rx, int ID, int baud=1000000); + + /** Nouvelle fonction de commande de position du servomoteur avec sécurité d'arriver à la bonne position + Si une erreur se produit et que le servo ne recoit vraiment rien cette fonction dispose d'une sortie en timeout error; + */ + int Set_Secure_Goal(int degres); + + /** Retourne le temps d'attente avant l'envoi de la trame de retour par l'actionneur ( en micro seconde ) + */ + int Get_Return_Delay_Time(void); + + + /** Retourne la vitesse de communication de l'actionneur ( en Bits/seconde ) + */ + int Get_Baud_Rate(void); + + + /** Reglage du courant minimum necessaire au bon fonctionnement de l'actionneur + // minimum >> Ox000 >> decimal 0 + // maximum >> 0x3FF >> decimal 1023 + // deflaut >> 0x20 >> decimal 32 + */ + int Set_Punch(int punch); + + + /** Retourne le courant minimum au fonctionnement de l'actionneur + */ + int Get_Punch (void); + + + /** Retourne l'ampleur de la charge sur l'actionneur + */ + int Get_Load_Value (void); + + void read_all_info(unsigned char, unsigned char); + + /** Reset + */ + int Reset(int); + + /** Retourne la direction de la charge sur l'actionneur + */ + int Get_Load_Direction (void); + + + /** Retourne la vitesse angulaire actuelle de l'actionneur + */ + int Get_Present_Speed (void); + + + /** Retourne la valeur en degres du registre CCW angle limit qui est l'angle limite maximum de l'actionneur + */ + int Get_CCW_Angle_Limit (void); + + + /** Retourne la valeur en degres du registre CW angle limit qui est l'angle limite minimum de l'actionneur + */ + int Get_CW_Angle_Limit (void); + + + /** Retourne la valeur du registre Torque Enable + */ + int Get_Torque_Enable(void); + + + /** + 1 >>> + 0 >>> + */ + int Set_Torque_Enable(int etat); + + + /** Retourne les données de compensation des différences entre les potentiomètres + utilisés dans l'AX12 (Up) ???????? + */ + int Get_Up_Calibration (void); + + + /** Retourne les données de compensation des différences entre les potentiomètres + utilisés dans l'AX12 (Dowm) ???????? + */ + int Get_Down_Calibration(void); + + + /** Retourne l'ID de l'AX_12 avec lequel on dialogue + utile seulement dans le cas d'un broadcast ID + */ + int Get_ID(void); + + + /** Reglage du couple maximum de l'actionneur + // minimum >> Ox000 >> decimal 0 + // maximum >> 0x3FF >> decimal 1023 + // deflaut >> >> decimal + */ + int Set_Max_Torque(int torque); + + + /** Reglage de la desactivation des actionneurs si une erreur le concernant se produit + Bit Function + Bit 7 0 + Bit 6 If set to 1, torque off when an Instruction Error occurs + Bit 5 If set to 1, torque off when an Overload Error occurs + Bit 4 If set to 1, torque off when a Checksum Error occurs + Bit 3 If set to 1, torque off when a Range Error occurs + Bit 2 If set to 1, torque off when an Overheating Error occurs + Bit 1 If set to 1, torque off when an Angle Limit Error occurs + Bit 0 If set to 1, torque off when an Input Voltage Error occurs + */ + int Set_Alarm_Shutdown(int valeur); + + + /** Reglage de l'activation de l'alarme + Bit Function + Bit 7 0 + Bit 6 If set to 1, the LED blinks when an Instruction Error occurs + Bit 5 If set to 1, the LED blinks when an Overload Error occurs + Bit 4 If set to 1, the LED blinks when a Checksum Error occurs + Bit 3 If set to 1, the LED blinks when a Range Error occurs + Bit 2 If set to 1, the LED blinks when an Overheating Error occurs + Bit 1 If set to 1, the LED blinks when an Angle Limit Error occurs + Bit 0 If set to 1, the LED blinks when an Input Voltage Error occurs + */ + int Set_Alarm_LED(int valeur); + + + /** Reglage de la réponse à une instruction + * @param mode + * 0 >> ne repond a aucune instructions + * 1 >> repond seulement aux instructions READ_DATA + * 2 >> repond à toutes les instructions + */ + int Set_Status_Return_Level(int etat); + + + /** Reglage de la tension minimale + * @param mode + * minimum >> 0x32 >> decimal 50 + * maximum >> 0xFA >> decimal 250 + * deflaut >> 0x3C >> decimal 60 + */ + int Set_Lowest_Voltage(int val_lowest_voltage); + + + /** Reglage de la tension maximale + * @param mode + * minimum >> Ox32 >> decimal 50 + * maximum >> 0xFA >> decimal 250 + * deflaut >> 0xBE >> decimal 190 + */ + int Set_Highest_Voltage(int val_highest_voltage); + + + // Reglage du return time delay EN MICRO SECONDE 2uSec * val_delay_time + // minimum >> 0 us + // maximum >> 508 us + // deflaut >> 125 us + int Set_Delay_Time (int val_delay_time ); + + + /** Set Highest Limit Temperature + * @param mode + * minimum >> Ox00 >> decimal 0 + * maximum >> 0x96 >> decimal 150 + */ + int Set_Temperature_Max (int val_temperature ); + + + + /** Set the state of LED + * @param mode + * 0 = off, default + * 1 = on + */ + int Set_Etat_LED(int etat); + + + + /** Set the mode of the servo + * @param mode + * 0 = Positional, default + * 1 = Continuous rotation + */ + int Set_Mode(int mode); + + /** Set baud rate of all attached servos + * @param mode + * 0x01 = 1,000,000 bps + * 0x03 = 500,000 bps + * 0x04 = 400,000 bps + * 0x07 = 250,000 bps + * 0x09 = 200,000 bps + * 0x10 = 115,200 bps + * 0x22 = 57,600 bps + * 0x67 = 19,200 bps + * 0xCF = 9,600 bp + */ + int Set_Baud(int baud); + + + /** Set goal angle in integer degrees, in positional mode + * + * @param degrees 0-300 + * @param flags, defaults to 0 + * flags[0] = blocking, return when goal position reached + * flags[1] = register, activate with a broadcast trigger + * + */ + int Set_Goal(int degrees, int flags = 0); + + int Set_Goal_speed(int degrees, int flags = 0); + + /** Set the speed of the servo in continuous rotation mode + * + * @param speed, -1.0 to 1.0 + * -1.0 = full speed counter clock wise + * 1.0 = full speed clock wise + */ + int Set_CR_Speed(float speed); + + + /** Permet de définir l'angle limite minimum de l'actionneur ( prend une valeur d'entrée en degres ) + // minimum >> 0° + // maximum >> 300° + // deflaut >> 0° + */ + int Set_CW_Angle_Limit(int degrees); + + /** Permet de définir l'angle limite maximum de l'actionneur ( prend une valeur d'entrée en degres ) + // minimum >> 0° + // maximum >> 300° + // deflaut >> 300° + */ + int Set_CCW_Angle_Limit(int degrees); + + // Change the ID + + /** Change the ID of a servo + * + * @param CurentID 1-255 + * @param NewID 1-255 + * + * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID. + * In this situation, only one servo should be connected to the bus + */ + int Set_ID(int CurrentID, int NewID); + + + /** Poll to see if the servo is moving + * + * @returns true is the servo is moving + */ + int isMoving(void); + + /** Send the broadcast "trigger" command, to activate any outstanding registered commands + */ + void trigger(void); + + /** Send the "reset" command, to activate any outstanding registered commands + */ + void reset(); + + /** Read the current angle of the servo + * + * @returns float in the range 0.0-300.0 + */ + float Get_Position(); + + /** Read the temperature of the servo + * + * @returns float temperature + */ + float Get_Temp(void); + + /** Read the supply voltage of the servo + * + * @returns float voltage + */ + float Get_Volts(void); + + // Lecture du couple maximum ( retourne la valeur du registre Max Torque de l'AX12 ) + int Get_Max_Torque (void); + + + int read(int ID, int start, int length, char* data); + int write(int ID, int start, int length, char* data, int flag=0); + void multiple_goal_and_speed(int number_ax12,char* tab); + float read_and_test(float angle,char* Tab); + +private : + + SerialHalfDuplex _ax12; + int _ID; + int _baud; + + +}; + +#endif