Revision 5:740eb0f606c1, committed 2017-05-11

Comitter:

SquirrelGod

Date:

Thu May 11 12:59:23 2017 +0000

Parent:

4:92d6a49cd2c5

Commit message:

code AX12 gros robots

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12/AX12.h	Thu May 11 12:59:23 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