PRISMA Lab
mbedos senza corrente
Diff: MX.cpp
- Revision:
- 17:6f85605f793d
- Child:
- 18:862a4afc1fbe
- Child:
- 19:16d5f8a3311f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MX.cpp Fri Jul 26 12:40:22 2019 +0000
@@ -0,0 +1,960 @@
+
+#include "MX.h"
+
+MX::MX(){
+}
+
+MX::MX(int* broadcastID, int Nmotor, int MotorBaud, UARTSerial_half* pCommLayer){
+ _MotorBaud = MotorBaud;
+ _pCommLayer = pCommLayer;
+ _broadcastID = broadcastID ;
+ _Nmotor = Nmotor;
+}
+
+
+int MX::SyncTorqueEnable(bool enableVal[], int ID) {
+
+ int Nmotor = _Nmotor;
+ char data[1*Nmotor];
+
+ for (int i=0 ; i<Nmotor ; i++){
+ data[i] = enableVal[i];
+ }
+
+ #ifdef SYNC_TORQUE_ENABLE_DEBUG
+ printf("\n SYNC TORQUE ENABLE\n");
+ for (int i=0 ; i<Nmotor ; i++){
+ printf("\n Torque Enable value for ID[%d] = %d",_broadcastID[i], enableVal[i]);
+ }
+ #endif
+
+ int rVal = SyncSendPacket(MX_REG_TORQUE_ENABLE, 1, data, ID);
+
+ return(rVal);
+}
+
+
+int MX::SyncSetBaud(int MotorBaud[], int ID) {
+
+ int Nmotor = _Nmotor;
+ char data[1*Nmotor];
+
+ for (int i=0 ; i<Nmotor ; i++){
+ data[i] = MotorBaud[i];
+ }
+
+ #ifdef SYNC_SET_BAUD_DEBUG
+ printf("\n SYNC_SET_BAUD_DEBUG\n");
+ for (int i=0 ; i<Nmotor ; i++){
+ printf("Set Baud rate value to: 0x%02x\n",MotorBaud[i]);
+ }
+ printf( "* 0x00 = 9,600 bps \n"
+ "* 0x01 = 57,600 bps (DEFAULT)\n"
+ "* 0x02 = 115,200 bps \n"
+ "* 0x03 = 1 Mbps \n"
+ "* 0x04 = 2 Mbps \n"
+ "* 0x05 = 3 Mbps \n"
+ "* 0x06 = 4 Mbps \n"
+ "* 0x06 = 4,5 Mbps \n");
+ for (int i=0 ; i<Nmotor ; i++){
+ printf("\n Operating mode value for ID[%d] = %d",_broadcastID[i], MotorBaud[i]);
+ }
+ #endif
+
+ int rVal = SyncSendPacket(MX_REG_OPERATING_MODE, 1, data, ID);
+
+ return(rVal);
+}
+
+
+
+int MX::SyncSetGoal(float degrees, int ID) {
+
+ float goal = (degrees) * (float)(4095/360);
+ char data[4];
+
+ for (int j = 0 ; j < 4 ; j++){
+ data[j] = ((int)goal >> (j*8) ) & 0xff; // top 8 bits
+ }
+
+ #ifdef SYNC_SETGOAL_DEBUG
+ printf("\n SYNC SET GOAL\n ");
+ printf("\nGOAL CHOSEN FOR EACH MOTOR\n");
+ printf("goal[ID]: value(0-4095) - value(0 - 360)\n");
+ printf("goal[%d]: %f - %.02f\n",ID,goal,degrees);
+ printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n");
+ for (int j = 0 ; j < 4; j++){
+ printf("data[%d]: %02x\n",j+(4),data[j+(4)]); //debug data
+ }
+ #endif
+
+ int rVal = SyncSendPacket(MX_REG_GOAL_POSITION, 4, data, ID);
+
+ return(rVal);
+}
+
+int MX::SyncSetGoal(float degrees[]) {
+
+ char data[4*_Nmotor]; //4 is dimension in bytes of instruction
+ int goal[_Nmotor];
+
+ for (int i=0 ; i<_Nmotor ; i++){ //set goal array with goal in RAW(uint32) values from DEGREES(float)
+ goal[i] = (degrees[i]) * (float)(4095/360);
+ }
+
+ for (int i=0 ; i<_Nmotor ; i++){ //set data array in 4 bytes sequence (split RAW(uint32) in 4x bytes(uint8)
+ for (int j = 0 ; j < 4; j++){
+ data[j+(i*4)] = (goal[i] >> (j*8) ) & 0xff; // top 8 bits
+ }
+ }
+
+ #ifdef SYNC_SETGOAL_DEBUG
+ printf("\n SYNC SET GOAL\n ");
+ printf("\nGOAL CHOSEN FOR EACH MOTOR\n");
+ printf("goal[ID]: value(0-4095) - value(0 - 360)\n");
+ for (int i=0; i<_Nmotor ; i++){
+ printf("goal[%d]: %d - %.02f\n",_broadcastID[i],goal[i],degrees[i]);
+ }
+ printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n");
+ for (int i=0 ; i<_Nmotor ; i++){ //set data array in 4 bytes sequence (split RAW(uint32) in 4x bytes(uint8)
+ for (int j = 0 ; j < 4; j++){
+ printf("data[%d]: %02x\n",j+(i*4),data[j+(i*4)]); //debug data
+ }
+ printf("\n");
+ }
+ #endif
+
+ // write the packet, and return the error code
+ int rVal = SyncSendPacket(MX_REG_GOAL_POSITION, 4, data);
+
+ return(rVal);
+}
+
+
+int MX::SyncOperatingMode(int mode[], int ID) {
+
+ int Nmotor = _Nmotor;
+ char data[1*Nmotor];
+
+ for (int i=0 ; i<Nmotor ; i++){
+ data[i] = mode[i];
+ }
+
+ #ifdef SYNC_OPERATING_MODE_DEBUG
+ printf("\n SYNC OPERATING MODE DEBUG\n");
+ for (int i=0 ; i<Nmotor ; i++){
+ printf("Set Operating Mode value to: 0x%02x\n",mode[i]);
+ }
+ printf( "* 0x00 = Current Control Mode\n"
+ "* 0x01 = Velocity Control Mode\n"
+ "* 0x03 = Position Control Mode (DEFAULT)\n"
+ "* 0x04 = Extended Position Control Mode(Multi-turn)\n"
+ "* 0x05 = Current-based Position Control Mode\n"
+ "* 0x16 = PWM Control Mode (Voltage Control Mode)\n");
+ for (int i=0 ; i<Nmotor ; i++){
+ printf("\n Operating mode value for ID[%d] = %d",_broadcastID[i], mode[i]);
+ }
+ #endif
+
+ int rVal = SyncSendPacket(MX_REG_OPERATING_MODE, 1, data, ID);
+
+ return(rVal);
+}
+
+
+int MX::SyncCurrentLimit(float mAmpere, int ID) {
+
+ uint8_t byte = 2; //2 is dimension in bytes of instruction
+ float goal = (mAmpere) * (float)(1941/6521.76);
+ char data[byte];
+
+ for (int j = 0 ; j < byte ; j++){
+ data[j] = ((int)goal >> (j*8) ) & 0xff; // top 8 bits
+ }
+
+ #ifdef SYNC_CURRENT_LIMIT_DEBUG
+ printf("\n SYNC CURRENT LIMIT DEBUG\n ");
+ printf("\nCURRENT LIMIT CHOSEN FOR EACH MOTOR\n");
+ printf("Current limit[ID]: value(0-1941) - value(0mA - 6521.76mA)\n");
+ printf("Current[%d]: %f - %.02f\n",ID,goal,mAmpere);
+ printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n");
+ for (int j = 0 ; j < byte; j++){
+ printf("data[%d]: %02x\n",j+(byte),data[j+(byte)]); //debug data
+ }
+ #endif
+
+ int rVal = SyncSendPacket(MX_REG_CURRENT_LIMIT, byte, data, ID);
+
+ return(rVal);
+}
+
+
+int MX::SyncCurrentLimit(float mAmpere[]) {
+
+ uint8_t byte = 2; //2 is dimension in bytes of instruction
+ char data[byte*_Nmotor];
+ int goal[_Nmotor];
+
+ for (int i=0 ; i<_Nmotor ; i++){ //set goal array with goal in RAW(uint32) values from DEGREES(float)
+ goal[i] = (mAmpere[i]) * (float)(1941/6521.76);
+ }
+
+ for (int i=0 ; i<_Nmotor ; i++){ //set data array in 2 bytes sequence (split RAW(uint32) in 2*bytes(uint8)
+ for (int j = 0 ; j < byte; j++){
+ data[j+(i*byte)] = (goal[i] >> (j*8) ) & 0xff; // top 8 bits
+ }
+ }
+
+ #ifdef SYNC_CURRENT_LIMIT_DEBUG
+ printf("\n SYNC CURRENT LIMIT DEBUG\n ");
+ printf("\nCURRENT LIMIT CHOSEN FOR EACH MOTOR\n");
+ printf("Current limit[ID]: value(0-1941) - value(0mA - 6521.76mA)\n");
+ for (int i=0; i<_Nmotor ; i++){
+ printf("goal[%d]: %d - %.02f\n",_broadcastID[i],goal[i],mAmpere[i]);
+ }
+ printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n");
+ for (int i=0 ; i<_Nmotor ; i++){ //set data array in 2 bytes sequence (split RAW(uint32) in 2*bytes(uint8)
+ for (int j = 0 ; j < byte; j++){
+ printf("data[%d]: %02x\n",j+(i*byte),data[j+(i*byte)]); //debug data
+ }
+ printf("\n");
+ }
+ #endif
+
+ // write the packet, and return the error code
+ int rVal = SyncSendPacket(MX_REG_CURRENT_LIMIT, byte, data);
+
+ return(rVal);
+}
+
+
+int MX::SyncGoalCurrent(float mAmpere, int ID) {
+
+ uint8_t byte = 2; //2 is dimension in bytes of instruction
+ float goal = (mAmpere) * (float)(1941/6521.76);
+ char data[byte];
+
+ for (int j = 0 ; j < byte ; j++){
+ data[j] = ((int)goal >> (j*8) ) & 0xff; // top 8 bits
+ }
+
+ #ifdef SYNC_GOAL_CURRENT_DEBUG
+ printf("\n SYNC GOAL CURRENT\n ");
+ printf("\nGOAL CHOSEN FOR EACH MOTOR\n");
+ printf("goal[ID]: value(-1941-1941) - value(-6521.76mA - 6521.76mA)\n");
+ printf("goal[%d]: %f - %.02f\n",ID,goal,mAmpere);
+ printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n");
+ for (int j = 0 ; j < byte; j++){
+ printf("data[%d]: %02x\n",j+(byte),data[j+(byte)]); //debug data
+ }
+ #endif
+
+ int rVal = SyncSendPacket(MX_REG_GOAL_CURRENT, byte, data, ID);
+
+ return(rVal);
+}
+
+
+int MX::SyncGoalCurrent(float mAmpere[]) {
+
+ uint8_t byte = 2; //2 is dimension in bytes of instruction
+ char data[byte*_Nmotor];
+ int goal[_Nmotor];
+
+ for (int i=0 ; i<_Nmotor ; i++){ //set goal array with goal in RAW(uint32) values from DEGREES(float)
+ goal[i] = (mAmpere[i]) * (float)(1941/6521.76);
+ }
+
+ for (int i=0 ; i<_Nmotor ; i++){ //set data array in 2 bytes sequence (split RAW(uint32) in 2*bytes(uint8)
+ for (int j = 0 ; j < byte; j++){
+ data[j+(i*byte)] = (goal[i] >> (j*8) ) & 0xff; // top 8 bits
+ }
+ }
+
+ #ifdef SYNC_GOAL_CURRENT_DEBUG
+ printf("\n SYNC GOAL CURRENT\n ");
+ printf("\nGOAL CHOSEN FOR EACH MOTOR\n");
+ printf("goal[ID]: value(0-1941) - value(-6521.76mA - 6521.76mA)\n");
+ for (int i=0; i<_Nmotor ; i++){
+ printf("goal[%d]: %d - %.02f\n",_broadcastID[i],goal[i],mAmpere[i]);
+ }
+ printf("\nDATA TO SET FOR EACH MOTOR (entire buffer RAW values) \n");
+ for (int i=0 ; i<_Nmotor ; i++){ //set data array in 2 bytes sequence (split RAW(uint32) in 2*bytes(uint8)
+ for (int j = 0 ; j < byte; j++){
+ printf("data[%d]: %02x\n",j+(i*byte),data[j+(i*byte)]); //debug data
+ }
+ printf("\n");
+ }
+ #endif
+
+ // write the packet, and return the error code
+ int rVal = SyncSendPacket(MX_REG_GOAL_CURRENT, byte, data);
+
+ return(rVal);
+}
+
+
+float* MX::SyncGetPosition(void) {
+ printf("\n SYNC GET POSITION ");
+ char* data;
+ int bytes = 4;
+ int32_t position[bytes];
+ int NumberOfMotor = sizeof(_Nmotor);
+ int IDreceived[NumberOfMotor];
+ float angle[NumberOfMotor] ;
+ float ScaleFactor = (float)360/4095;
+
+
+ //char Status[(11+bytes)*_Nmotor]; (11+bytes)
+ data = SyncReadPacket(MX_REG_PRESENT_POSITION, bytes);
+ for (int i=0 ;i<_Nmotor ;i++){
+
+ IDreceived[i] = (int)data[4 +(11+bytes)*i];
+
+ position[i] = (int)data[12+(11+bytes)*i] << 24;
+ position[i] |= (int)data[11+(11+bytes)*i] << 16;
+ position[i] |= (int)data[10+(11+bytes)*i] << 8;
+ position[i] |= (int)data[9 +(11+bytes)*i];
+ }
+ for (int i=0 ;i<_Nmotor ;i++){
+ // angle(degree) obtained from position(0 - 4095)
+ angle[i] = (float)position[i]*ScaleFactor;
+ }
+
+#ifdef SYNCGETPOSITION_DEBUG
+ for (int i=0 ;i<_Nmotor ;i++){
+ printf("\nGet RAW position data from ID: %d\n",IDreceived[i]);
+ printf(" Data[%d]: 0x%02x\n",(9 +(11+bytes)*i),data[9 +(11+bytes)*i]);
+ printf(" Data[%d]: 0x%02x\n",(10 +(11+bytes)*i),data[10 +(11+bytes)*i]);
+ printf(" Data[%d]: 0x%02x\n",(11 +(11+bytes)*i),data[11 +(11+bytes)*i]);
+ printf(" Data[%d]: 0x%02x\n",(12 +(11+bytes)*i),data[12 +(11+bytes)*i]);
+ printf("Converted position (0 - 4095): %d\n",position[i]);
+ printf("Converted angle %f\n\n",angle[i]);
+ }
+#endif
+
+ return(angle);
+}
+
+int MX::SyncSendPacket(int start, int bytes, char* data, int ID) {
+
+ int Nmotor ;
+ if (ID == -1){
+ Nmotor = _Nmotor;
+ }
+ else{
+ Nmotor = 1;
+ }
+
+ char TxBuf[12+((bytes+1)*Nmotor)+2];
+ char Status[11];
+ int TxBufSize = sizeof(TxBuf);
+
+ // initialization of vector TxBuf
+ for (int i=0; i<TxBufSize ; i++){
+ TxBuf[i] = 0x00;
+ }
+
+ // Inizialization
+ Status[8]=0x00; //The error is set to zero
+ // Build the TxPacket first in RAM, then we'll send in one go
+ TxBuf[0] = 0xff; //H1
+ TxBuf[1] = 0xff; //H2
+ TxBuf[2] = 0xfd; //H3
+ TxBuf[3] = 0x00; //Reserved
+ TxBuf[4] = 0xfe; //Broadcast ID
+ // Length
+ TxBuf[5] = (7+( (bytes+1)*Nmotor) ) & 0xff; //packet length low 8 = inst(1bytes)+ param(instr.bytes+1)+CRC(2bytes)
+ TxBuf[6] = (7+( (bytes+1)*Nmotor) ) >> 8; //packet length high
+ // Instruction
+ TxBuf[7] = 0x83; //Sync Write
+ // Parameters
+ TxBuf[8] = start & 0xff; //Low order byte from starting address
+ TxBuf[9] = start >> 8; //High order byte from starting address
+ // Bytes lenght needed for instruction
+ TxBuf[10] = bytes & 0xff; //Low order byte from starting address
+ TxBuf[11] = bytes >> 8; //High order byte from starting address
+ // data
+ // Motor parameters for each motors
+
+ #ifdef SYNC_SENDPACKET_DEBUG
+ printf("\nDEBUG DI SyncSendPacket");
+ printf("\nTxBuf length : %d\n",TxBufSize );
+ printf("\nTxBuf before data and CRC adding:\n ");
+ for (int i=0; i<TxBufSize ; i++){
+ printf("\nTxBuf[%d] = %x ",i,TxBuf[i]);
+ }
+ printf("\n\nData to add");
+ for (int i=0; i<(Nmotor*bytes) ; i++){
+ printf("\ndata[%d] = %02x ",i,data[i]);
+ }
+ #endif
+
+ for (int i=0; i<Nmotor ; i++){
+ // t is a index of TxBuf
+ int t = 12 +((bytes+1)*i); // (bytes+1) => instruction dim + 1 (for ID) * i (for each motor)
+
+ if (Nmotor == 1){
+ #ifdef SYNC_SENDPACKET_DEBUG
+ printf("\nSINGLE MOTOR ");
+ #endif
+ TxBuf[t] = ID;
+ }else{
+ TxBuf[t] = _broadcastID[i];
+ #ifdef SYNC_SENDPACKET_DEBUG
+ printf("\n\nMULTI MOTOR");
+ printf("\nbroadcastID: %d", _broadcastID[i]);
+ #endif
+ }
+
+ for (int j = 0; j < bytes ; j++){
+ //Little endian
+ TxBuf[t+j+1] = data[j+(i*(bytes))]; //(first byte is a low order byte, second byte are High order byte)
+ #ifdef SYNC_SENDPACKET_DEBUG
+ printf("\nTxBuf[%d] = data[%d] = %x ",t+j+1,j+(i*bytes),data[j+(i*bytes)]);
+ #endif
+ }
+ }
+ // CRC //
+ uint16_t crc16 ;
+ int dataSize = TxBufSize-2;
+ crc16 = update_crc(0, TxBuf, dataSize);
+
+ TxBuf[TxBufSize-2] = (crc16 & 0x00FF);
+ TxBuf[TxBufSize-1] = (crc16>>8) & 0x00FF;
+ //printf("\nCRC 1 : %02x CRC 1 : %02x ",TxBuf[14+((bytes)*Nmotor)],TxBuf[15+((bytes)*Nmotor)]);
+
+ #ifdef SYNC_SENDPACKET_DEBUG_PACKETONLY
+ printf("\n\n Complete Packet to send of %d elements\n", TxBufSize);
+ for (int i=0; i<TxBufSize ; i++){
+ printf("\nTxBuf[%d] = %02x ",i,TxBuf[i]);
+ }
+ printf("\n SYNC SEND PACKET \n");
+ for (int i=0; i<TxBufSize ; i++){
+ printf("|%02x",TxBuf[i]);
+ }
+ printf("\n \n");
+ #endif
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+ _pCommLayer->flush();
+ _pCommLayer->write(TxBuf,TxBufSize); // UART-write
+
+ return(Status[8]); // return error code
+}
+
+
+char* MX::SyncReadPacket(int start, int bytes) {
+
+ char TxBuf[12+(_Nmotor)+2];
+ char Status[(11+bytes)*_Nmotor];
+ int TxBufSize = sizeof(TxBuf);
+ char* data;
+ Status[8] = 0x00; // The error is set to zero
+
+ // Build the TxPacket (FIXED !) first in RAM, then we'll send in one go
+ //Header
+ TxBuf[0] = 0xff; //H1
+ TxBuf[1] = 0xff; //H2
+ TxBuf[2] = 0xfd; //H3
+ // Reserved
+ TxBuf[3] = 0x00;
+ // ID
+ TxBuf[4] = 0xfe; // Broadcast
+ // Lenght 7 bytes = inst(1)+ param(4 + numbers of motors)+CRC(2)
+ TxBuf[5] = 7+(_Nmotor) & 0xff; // packet length low
+ TxBuf[6] = 7+(_Nmotor) >> 8; // packet length high
+ // Instruction
+ TxBuf[7] = 0x82;
+ // Param
+ TxBuf[8] = start & 0xFF; // Address
+ TxBuf[9] = start >> 8;
+ TxBuf[10] = bytes & 0xFF;; // Lenght of reply
+ TxBuf[11] = bytes >> 8;
+ for (int i=0; i<_Nmotor ;i++){
+ TxBuf[12+i] = _broadcastID[i];
+ }
+ // CRC
+ uint16_t crc16 ;
+ int dataSize = TxBufSize-2;
+ crc16 = update_crc(0, TxBuf, dataSize);
+ TxBuf[TxBufSize-2] = (crc16 & 0x00FF);
+ TxBuf[TxBufSize-1] = (crc16>>8) & 0x00FF;
+
+ #ifdef SYNC_READPACKET_DEBUG_PACKETONLY
+ printf("\n\n Complete Packet to send of %d elements\n", TxBufSize);
+ for (int i=0; i<TxBufSize ; i++){
+ printf("\nTxBuf[%d] = %02x ",i,TxBuf[i]);
+ }
+ printf("\n SYNC READ PACKET \n");
+ for (int i=0; i<TxBufSize ; i++){
+ printf("|%02x",TxBuf[i]);
+ }
+ printf("\n \n");
+ #endif
+
+ _pCommLayer->flush();
+ _pCommLayer->write(TxBuf,TxBufSize); // UART-write
+ wait(0.0002);
+ _pCommLayer->read_timeout(Status, (11+bytes)*_Nmotor, 2.0);
+
+ // Take data from 8th cell of status array
+ // first byte contain error code, for this we use (bytes+1)
+ for (int i=0; i<(11+bytes)*_Nmotor ; i++){
+ data[i] = Status[i];
+ }
+
+ #ifdef SYNC_READPACKET_DEBUG_PACKETONLY
+ printf("\n SYNC-READ (entire buffer RAW values)\n");
+ for (int i=0; i<(11+bytes)*_Nmotor ; i++){
+ data[i] = Status[i];
+ printf("data[%d]:%02x\n",i,data[i]);
+ }
+ #endif
+
+ return(data); // return error code
+}
+
+
+///////////////////////////////////////////////////////////////////////////////
+////////////////////////SINGLE OPERATIONS//////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+
+
+int MX::SetGoalSpeed(int speed, int flags) {
+
+ char reg_flag = 0;
+ char data[4];
+
+ // set the flag is only the register bit is set in the flag
+ if (flags == 0x2) {
+ reg_flag = 1;
+ }
+
+ int goal = (speed) ;
+
+ data[0] = goal & 0xff; // bottom 8 bits
+ data[1] = goal >> 8 & 0xff; // top 8 bits
+ data[2] = goal >> 16 & 0xff; // top 8 bits
+ data[3] = goal >> 24 & 0xff; // top 8 bits
+
+ // write the packet, return the error code
+ int rVal = sendPacket( MX_REG_GOAL_VELOCITY, 4, data, reg_flag);
+
+ if (flags == 1) {
+ // block until it comes to a halt
+ while (isMoving()) {}
+ }
+
+#ifdef SETGOAL_SPEED_DEBUG
+int16_t sp = speed * float(234.27/1023); //rev/min
+printf("\nSetGoal to: %d Velocity in [rev/min]%d \n" ,speed,sp);
+printf("Goal L: 0x%02x ; H: 0x%02x\n",data[0],data[1]);
+#endif
+
+ return(rVal);
+}
+
+
+int MX::SetGoal(float degrees, int flags) {
+
+ char reg_flag = 0;
+ char data[4];
+
+ // set the flag is only the register bit is set in the flag
+ if (flags == 0x2) {
+ reg_flag = 1;
+ }
+
+ int goal = (degrees) * (float)(4095/360);
+
+ data[0] = goal & 0xff; // bottom 8 bits
+ data[1] = goal >> 8 & 0xff; // top 8 bits
+ data[2] = goal >> 16 & 0xff; // top 8 bits
+ data[3] = goal >> 24 & 0xff; // top 8 bits
+
+ // write the packet, return the error code
+ int rVal = sendPacket( MX_REG_GOAL_POSITION, 4, data, reg_flag );
+
+ if (flags == 1) {
+ // block until it comes to a halt
+ while (isMoving()) {}
+ }
+
+#ifdef SETGOAL_DEBUG
+printf("\n SetGoal to: %d in degree is: %f\n",goal,degrees);
+printf(" Goal L: 0x%02x ; H: 0x%02x\n",data[0],data[1]);
+#endif
+ return(rVal);
+}
+
+// if flag[0] is set, were blocking
+// if flag[1] is set, we're registering
+// they are mutually exclusive operations
+
+int MX::OperatingMode(int mode) {
+
+ char data[1];
+ data[0] = mode; // bottom 8 bits
+
+#ifdef OPERATING_MODE_DEBUG
+ printf("\nOPERATING_MODE_DEBUG\n");
+ printf("Set Operating Mode value to: 0x%02x\n",mode);
+ printf( "* 0x00 = Current Control Mode\n"
+ "* 0x01 = Velocity Control Mode\n"
+ "* 0x03 = Position Control Mode (DEFAULT)\n"
+ "* 0x04 = Extended Position Control Mode(Multi-turn)\n"
+ "* 0x05 = Current-based Position Control Mode\n"
+ "* 0x16 = PWM Control Mode (Voltage Control Mode)\n");
+#endif
+
+ //sendPacket(Motor ID, Address, Lenght, data);
+ //return give back a error code of sendPacket function
+ return (sendPacket( MX_REG_OPERATING_MODE, 1, data));
+}
+
+
+// return 1 is the servo is still in flight
+bool MX::isMoving(void) {
+
+ bool data[1];
+ data[0] = 1;
+ data[0] = readPacket( MX_REG_MOVING,1 );
+ return(data[0]);
+}
+
+
+int MX::motorSetBaud (int MotorBaud) {
+
+ char data[1];
+ data[0] = MotorBaud;
+
+#ifdef SETBAUD_DEBUG
+ printf("\nSTATUS Packet - SETBAUD_DEBUG\n");
+ printf("Set Baud rate value to: 0x%02x\n",MotorBaud);
+ printf( "* 0x00 = 9,600 bps \n"
+ "* 0x01 = 57,600 bps (DEFAULT)\n"
+ "* 0x02 = 115,200 bps \n"
+ "* 0x03 = 1 Mbps \n"
+ "* 0x04 = 2 Mbps \n"
+ "* 0x05 = 3 Mbps \n"
+ "* 0x06 = 4 Mbps \n"
+ "* 0x06 = 4,5 Mbps \n");
+#endif
+
+ //sendPacket(Motor ID, Address, Lenght, data);
+ //return give back a error code of sendPacket function
+ return (sendPacket( MX_REG_BAUD, 1, data));
+}
+
+void MX::Reboot() {
+
+ char TxBuf[10];
+ char Status[11];
+ Status[8]=0x00; //The error is set to zero
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+ TxBuf[0] = 0xff; //H1
+ TxBuf[1] = 0xff; //H2
+ TxBuf[2] = 0xfd; //H3
+ TxBuf[3] = 0x00; //Reserved
+ TxBuf[4] = _ID; //ID
+ // packet Length
+ TxBuf[5] = 0x03; //packet length low
+ TxBuf[6] = 0x00; //packet length high
+ // Instruction
+ TxBuf[7] = 0x08; // Instruction to reboot Device
+ /*****************CRC***********************/
+ uint16_t crc16 ;
+ int dataSize = sizeof(TxBuf)-2;
+ crc16 = update_crc(0, TxBuf, dataSize /*5+bytes*/);
+ TxBuf[8] = (crc16 & 0x00FF);
+ TxBuf[9] = (crc16>>8) & 0x00FF;
+// Build the TxPacket first in RAM, then we'll send in one go
+ _pCommLayer->flush();
+ _pCommLayer->write(TxBuf,10); // UART-write
+ _pCommLayer->read_timeout(Status, 11, 2.0);
+
+#ifdef REBOOT_ENABLE_DEBUG
+ printf("\n Reboot Motor: (%d)",enableVal);
+#endif
+}
+
+
+int MX::TorqueEnable(bool enableVal) {
+
+ char data[1];
+ data[0] = enableVal;
+
+#ifdef TORQUE_ENABLE_DEBUG
+ printf("\n Setting Torque Enable value: (%d)",enableVal);
+#endif
+
+ return (sendPacket( MX_REG_TORQUE_ENABLE, 1, data));
+}
+
+
+float MX::GetPosition(void) {
+printf("\nGET POSITION ");
+ char* data;
+ int32_t position;
+ float angle = 0;
+ float ScaleFactor = (float)360/4095;
+
+ data = readPacket( MX_REG_PRESENT_POSITION, 4);
+ position = (uint32_t)data[3] << 24;
+ position |= (uint32_t)data[2] << 16;
+ position |= (uint32_t)data[1] << 8;
+ position |= (uint32_t)data[0];
+ // angle(degree) obtained from position(0 - 4095)
+ angle = (float)position*ScaleFactor;
+
+#ifdef GETPOSITION_DEBUG
+ printf("\nGetPosition from ID: %d\n",_ID);
+ for (uint16_t i=0; i<4 ; i++) {
+ printf(" Data[%d] : 0x%02x\n",(i+1),data[i]);
+ }
+ printf(" Read position (0 - 4095): %d\n",position);
+ printf(" Converted angle %f\n",angle);
+#endif
+ return (angle);
+}
+
+
+int MX::sendPacket( int start, int bytes, char* data, int flag) {
+
+ char TxBuf[12+bytes];
+ char Status[11];
+ Status[8]=0x00; //The error is set to zero
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+ TxBuf[0] = 0xff; //H1
+ TxBuf[1] = 0xff; //H2
+ TxBuf[2] = 0xfd; //H3
+ TxBuf[3] = 0x00; //Reserved
+ TxBuf[4] = _ID; //ID
+ // packet Length
+ TxBuf[5] = (5+bytes) & 0xff; //packet length low
+ TxBuf[6] = (5+bytes) >> 8; //packet length high
+ // Instruction
+ if (flag == 1) {
+ TxBuf[7]=0x04;
+ } else {
+ TxBuf[7]=0x03;
+ }
+ // Start Address
+ TxBuf[8] = start & 0xFF;
+ TxBuf[9] = start >> 8;
+ // data
+ for (int i = bytes-1; i>=0 ; i--) { //little endian
+ TxBuf[10+i] = data[i];
+ }
+ /*****************CRC***********************/
+ uint16_t crc16 ;
+ int dataSize = sizeof(TxBuf)-2;
+ crc16 = update_crc(0, TxBuf, dataSize /*5+bytes*/);
+
+ TxBuf[10+bytes] = (crc16 & 0x00FF);
+ TxBuf[11+bytes] = (crc16>>8) & 0x00FF;
+// Build the TxPacket first in RAM, then we'll send in one go
+ _pCommLayer->flush();
+ _pCommLayer->write(TxBuf,bytes+12); // UART-write
+ _pCommLayer->read_timeout(Status, 11, 2.0);
+
+
+#ifdef SENDPACKET_DEBUG
+ printf("\nWRITE input parameters:\n");
+ printf(" (ID: %d, Address: 0x%x, Bytes: %d, flag: %d)\n",_ID,start,bytes,flag);
+ printf(" Data written:\n");
+ for (int i=0; i < bytes ; i++) {
+ printf(" Data[%d]: 0x%x\n",i,data[i]);
+ }
+#endif
+
+#ifdef SENDPACKET_DEBUG_INSTRUCTION_PKT
+ printf("\nINSTRUCTIONS Packet - WRITE_DEBUG \n");
+ printf(" H1 : 0x%02x\n",TxBuf[0]);
+ printf(" H2 : 0x%02x\n",TxBuf[1]);
+ printf(" H3 : 0x%02x\n",TxBuf[2]);
+ printf(" Reserved : 0x%02x\n",TxBuf[3]);
+ printf(" ID : 0x%02x\n",TxBuf[4]);
+ printf(" Length L : 0x%02x\n",TxBuf[5]);
+ printf(" Length H : 0x%02x\n",TxBuf[6]);
+ printf(" Instruction : 0x%02x\n",TxBuf[7]);
+ printf(" Cmd L : 0x%02x\n",TxBuf[8]);
+ printf(" Cmd H : 0x%02x\n",TxBuf[9]);
+ for (uint16_t i=0; i<bytes ; i++) {
+ printf(" Data : 0x%02x\n",TxBuf[10+i]);
+ }
+ printf(" CRC1 : 0x%02x\n",TxBuf[10+bytes]);
+ printf(" CRC2 : 0x%02x\n",TxBuf[11+bytes]);
+ printf(" TxBuf = ");
+ for (int i = 0; i < sizeof(TxBuf) ; i++) {
+ printf(" [0x%02x]",TxBuf[i]);
+ }
+ printf("\n");
+#endif
+
+#ifdef SENDPACKET_DEBUG_STATUS_PKT
+ printf("\nSTATUS Packet - WRITE_DEBUG\n");
+ printf(" H1 : 0x%02x\n",Status[0]);
+ printf(" H2 : 0x%02x\n",Status[1]);
+ printf(" H3 : 0x%02x\n",Status[2]);
+ printf(" Reserved : 0x%02x\n",Status[3]);
+ printf(" ID : 0x%02x\n",Status[4]);
+ printf(" Length L : 0x%02x\n",Status[5]);
+ printf(" Length H : 0x%02x\n",Status[6]);
+ printf(" Instruction : 0x%02x\n",Status[7]);
+ printf(" Error : 0x%02x\n",Status[8]);
+ printf(" CRC1 : 0x%02x\n",Status[9]);
+ printf(" CRC2 : 0x%02x\n",Status[10]);
+ printf(" Status = ");
+ for (int i = 0; i < sizeof(Status) ; i++) {
+ printf(" [0x%02x]",Status[i]);
+ }
+ printf("\n");
+#endif
+
+ return(Status[8]); // return error code
+}
+
+
+
+char* MX::readPacket(int start, int bytes, int flag) {
+
+ char TxBuf[14];
+ char Status[11+bytes];
+ char* data;
+ Status[8] = 0x00; //The error is set to zero
+
+ // Build the TxPacket (FIXED !) first in RAM, then we'll send in one go
+ TxBuf[0] = 0xff; //H1
+ TxBuf[1] = 0xff; //H2
+ TxBuf[2] = 0xfd; //H3
+ TxBuf[3] = 0x00; //Reserved
+ TxBuf[4] = _ID; //ID
+ TxBuf[5] = 0x07; //packet length low
+ TxBuf[6] = 0x00; //packet length high
+ TxBuf[7] = 0x02; // Instruction
+ TxBuf[8] = start & 0xFF; // Start Address
+ TxBuf[9] = start >> 8;
+ // N param
+ TxBuf[10] = 0x04;
+ TxBuf[11] = 0x00;
+ /*****************CRC***********************/
+ uint16_t crc16 ;
+ int dataSize = sizeof(TxBuf)-2;
+ crc16 = update_crc(0, TxBuf, dataSize);
+ TxBuf[12] = (crc16 & 0x00FF);
+ TxBuf[13] = (crc16>>8) & 0x00FF;
+
+ _pCommLayer->flush();
+ _pCommLayer->write(TxBuf,sizeof(TxBuf)); // UART-write
+ wait(0.0002);
+ _pCommLayer->read_timeout(Status, 11+bytes, 2.0);
+
+
+#ifdef MX_READPACKET_DEBUG
+ printf("\nREAD input parameters:\n");
+ printf(" (ID: %d, Address: 0x%x, Bytes: %d, flag: %d)\n",_ID,start,bytes,flag);
+ printf(" Data written:\n");
+ for (int i=0; i < bytes ; i++) {
+ printf(" Data[%d]: 0x%x\n",i,data[i]);
+ }
+#endif
+
+#ifdef MX_READPACKET_DEBUG_INSTRUCTION_PKT
+ printf("\nINSTRUCTIONS Packet - READ_DEBUG \n");
+ printf(" H1 - Header : 0x%02x\n",TxBuf[0]);
+ printf(" H2 - Header : 0x%02x\n",TxBuf[1]);
+ printf(" H3 - Header : 0x%02x\n",TxBuf[2]);
+ printf(" RESERVED : 0x%02x\n",TxBuf[3]);
+ printf(" ID : 0x%02x\n",TxBuf[4]);
+ printf(" Length L : 0x%02x\n",TxBuf[5]);
+ printf(" Length H : 0x%02x\n",TxBuf[6]);
+ printf(" Instruction : 0x%02x\n",TxBuf[7]);
+ printf(" Param1 - Cmd L : 0x%02x\n",TxBuf[8]);
+ printf(" Param2 - Cmd H : 0x%02x\n",TxBuf[9]);
+ printf(" Param3 : 0x%02x\n",TxBuf[10]);
+ printf(" Param4 : 0x%02x\n",TxBuf[11]);
+ printf(" CRC1 : 0x%02x\n",TxBuf[12]);
+ printf(" CRC2 : 0x%02x\n",TxBuf[13]);
+ printf(" TxBuf = ");
+ for (int i = 0; i < 14 ; i++) {
+ printf(" [0x%02x]",TxBuf[i]);
+ }
+ printf("\n\n");
+#endif
+
+#ifdef MX_READPACKET_DEBUG_STATUS_PKT
+ printf("\nSTATUS Packet - READ_DEBUG \n");
+ printf(" H1 - Header : 0x%02x\n",Status[0]);
+ printf(" H2 - Header : 0x%02x\n",Status[1]);
+ printf(" H3 - Header : 0x%02x\n",Status[2]);
+ printf(" Reserved : 0x%02x\n",Status[3]);
+ printf(" ID : 0x%02x\n",Status[4]);
+ printf(" Length L : 0x%02x\n",Status[5]);
+ printf(" Length H : 0x%02x\n",Status[6]);
+ printf(" Instruction : 0x%02x\n",Status[7]);
+ printf(" Error : 0x%02x\n",Status[8]);
+ for (uint16_t i=0; i<bytes ; i++) {
+ printf(" Param%d : 0x%02x\n",(i+1),Status[9+i]);
+ }
+ printf(" Crc1 : 0x%02x\n",Status[13]);
+ printf(" Crc2 : 0x%02x\n",Status[14]);
+ printf(" Status = ");
+ for (int i = 0; i < sizeof(Status) ; i++) {
+ printf(" [0x%02x]",Status[i]);
+ }
+ printf("\n");
+#endif
+ for (uint16_t i=0; i<bytes ; i++) {
+ data[i] = Status[9+i];
+ }
+ return(data); // return error code
+}
+
+unsigned short MX::update_crc(unsigned short crc_accum, char *data_blk_ptr, unsigned short data_blk_size)
+{
+ unsigned short i, j;
+ unsigned short crc_table[256] = {
+ 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
+ 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
+ 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
+ 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
+ 0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
+ 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
+ 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
+ 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
+ 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
+ 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
+ 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
+ 0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
+ 0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
+ 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
+ 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
+ 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
+ 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
+ 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
+ 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
+ 0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
+ 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
+ 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
+ 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
+ 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
+ 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
+ 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
+ 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
+ 0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
+ 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
+ 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
+ 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
+ 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
+ };
+ for(j = 0; j < data_blk_size; j++)
+ {
+ i = ((unsigned short)(crc_accum >> 8) ^ data_blk_ptr[j]) & 0xFF;
+ crc_accum = (crc_accum << 8) ^ crc_table[i];
+ }
+ return crc_accum;
+}
\ No newline at end of file