File content as of revision 22:5d3f37356915:

/* mbed MX-64 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_MX_H
#define MBED_MX_H

#include "mbed.h"
#include "UARTSerial_half.h"

//#define SENDPACKET_DEBUG 1
//#define SENDPACKET_DEBUG_INSTRUCTION_PKT 1
//#define SENDPACKET_DEBUG_STATUS_PKT 1
//#define READ_DEBUG 1
//#define READ_DEBUG_INSTRUCTION_PKT 1
//#define READ_DEBUG_STATUS_PKT 1
//#define GETPOSITION_DEBUG 1

//#define TORQUE_ENABLE_DEBUGDEBUG 1
//#define REBOOT_ENABLE_DEBUG
//#define SETGOAL_DEBUG 1 
//#define SETGOAL_SPEED_DEBUG 1
//#define OPERATING_MODE_DEBUG 1
//#define SETBAUD_DEBUG 1

#define SYNC_TORQUE_ENABLE_DEBUG 0
#define SYNC_SETGOAL_DEBUG 0
#define SYNC_GET_POSITION_DEBUG 0
#define SYNC_SENDPACKET_DEBUG 0
#define SYNC_SENDPACKET_DEBUG_PACKETONLY 0
#define SYNC_READPACKET_DEBUG_PACKETONLY 0
#define SYNC_SET_BAUD_DEBUG 0
#define SYNC_GET_CURRENT_DEBUG 0
#define SYNC_GOAL_CURRENT_DEBUG 0  
#define SYNC_OPERATING_MODE_DEBUG 0

  // Protocol 2.0 
// N.B. all Register values are in HEX, on the on-line manual all are in DEC
#define MX_REG_ID 0x7
#define MX_REG_BAUD 0x8
#define MX_REG_CW_LIMIT 0x30
#define MX_REG_CCW_LIMIT 0x34
#define MX_REG_GOAL_POSITION 0x74
#define MX_REG_GOAL_VELOCITY 0x68
#define MX_REG_PRESENT_INPUT_VOLT 0x90
#define MX_REG_PRESENT_TEMP 0x92
#define MX_REG_MOVING 0x7A
#define MX_REG_PRESENT_POSITION 0x84
#define MX_REG_TORQUE_ENABLE 0x40
#define MX_REG_OPERATING_MODE 0xB
#define MX_REG_PRESENT_CURRENT 0x7E
#define MX_REG_GOAL_CURRENT 0x66
#define MX_REG_CURRENT_LIMIT 0x26
#define MX_REG_GOAL_PWM 0x64
#define MX_REG_PROFILE_ACCELER 0x6C
#define MX_REG_PROFILE_VELOCITY 0x70
#define MX_OFF 0
#define MX_ON 1

class MX{


public:

    //standard constructor
    MX();           
    //constructor                                  
    MX(int*broadcastID, int Nmotor, int MotorBaud, UARTSerial_half* pCommLayer);   
    //constructor 2
    MX(int ID, int MotorBaud, UARTSerial_half* pCommLayer);    
     
    /** Set the mode of the servo
     * @param mode
     *
     *
     */
    int OperatingMode (int mode);

    /** Set baud rate of all attached servos
     * @param mode
     *    0x00 =     9,600  bps
     *    0x01 =    57,600  bps (DEFAULT)
     *    0x02 =    115,200 bps
     *    0x03 =    1       Mbps
     *    0x04 =    2       Mbps
     *    0x05 =    3       Mbps
     *    0x06 =    4       Mbps
     *    0x06 =    4,5       Mbps
     */
    int motorSetBaud(int MotorBaud);
     
    /** Set Torque enable 
    * enableVal = 1 Torque On  
    * enableVal = 0 Torque Off 
    **/
    int TorqueEnable(bool enable);
    
    /** 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 SetGoal(float degrees, int flags = 0);
    /** Set goal angle in integer degrees, in positional mode
     *
     * @param degrees 0-360
     * @param speed 0-100
     * @param flags, defaults to 0
     *    flags[0] = blocking, return when goal position reached 
     *    flags[1] = register, activate with a broadcast trigger
     *
     */
    int SetGoalSpeed(int speed, 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 SetCRSpeed(float speed);


    /** Set the clockwise limit of the servo
     *
     * @param degrees, 0-360
     */
    int SetCWLimit(int degrees);
    
    /** Set the counter-clockwise limit of the servo
     *
     * @param degrees, 0-360
     */
    int SetCCWLimit(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 SetID(int CurrentID, int NewID);


    /** Poll to see if the servo is moving
     *
     * @returns true is the servo is moving
     */
    bool isMoving(void);

    /** Send the broadcast "trigger" command, to activate any outstanding registered commands
     */
    void trigger(void);

    /** Read the current angle of the servo
     *
     * @returns float in the range 0.0-300.0
     */
    float GetPosition();

    /** Read the temperature of the servo
     *
     * @returns float temperature 
     */
    float GetTemp(void);

    /** Read the supply voltage of the servo
     *
     * @returns float voltage
     */
    float GetVolts(void);
    /** ENABLE 
     *
     * @returns float voltage
     */
    
    char* readPacket( int start, int length, int flag=0);
    int sendPacket(int start, int length, char* data, int flag=0);    
    void Reboot();
    
    void SyncReadPacket(int start, int bytes, char* data); 
    void SyncGetPosition(float* angle);
    void SyncGetCurrent(float* current);
    int SyncTorqueEnable(bool enableVal[], int Nmotor =-1);
    int SyncSetGoal(float degrees[]);
    int SyncSetGoal(float degrees, int ID);
    int SyncSendPacket(int start, int bytes, char* data, int ID =-1);
    int SyncGoalCurrent(float mAmpere, int ID); 
    int SyncGoalCurrent(float mAmpere[]);
    int SyncCurrentLimit(float mAmpere, int ID);
    int SyncCurrentLimit(float mAmpere[]);
    int SyncOperatingMode(int mode[], int ID =-1);
    int SyncSetBaud(int MotorBaud[], int ID =-1 );
    int SyncGoalPWM(float values[], int ID =-1 );
    int SyncProfileAccel(float profileValAcc[]);
    int SyncProfileVel(float profileValueVel[]);
       
private :

    UARTSerial_half* _pCommLayer;
    int _ID;
    int _MotorBaud;
    int* _broadcastID;
    int _Nmotor;
    
    unsigned short update_crc(unsigned short crc_accum, char *data_blk_ptr, unsigned short data_blk_size);
};

#endif