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