Programme d'utilisation des AX12 et de l'MX12 V3
Fork of Utilisatio_MX12_V2 by
AX12/AX12.h
- Committer:
- matthieuvignon
- Date:
- 2017-05-19
- Revision:
- 2:9d280856a536
- Parent:
- 1:f3f702086a30
File content as of revision 2:9d280856a536:
/* 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