PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

MX12.h@2:02f3323a107d, 2021-11-04 (annotated)

Committer:
denis2nis
Date:
Thu Nov 04 06:12:21 2021 +0000
Revision:
2:02f3323a107d
Parent:
1:a9ba9cf928fe
Child:
3:add8b050eb86
Arrange and comment MX12::rw function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
denis2nis 0:7556356a8bcd 1 #ifndef MBED_MX12_H
denis2nis 0:7556356a8bcd 2 #define MBED_MX12_H
denis2nis 0:7556356a8bcd 3
denis2nis 1:a9ba9cf928fe 4 /**
denis2nis 1:a9ba9cf928fe 5 * @file MX12.h
denis2nis 1:a9ba9cf928fe 6 * @brief this header file will contain all required
denis2nis 1:a9ba9cf928fe 7 * definitions and basic utilities functions.
denis2nis 2:02f3323a107d 8 * @details comming soon
denis2nis 1:a9ba9cf928fe 9 *
denis2nis 1:a9ba9cf928fe 10 * @author Titouan Soulard
denis2nis 1:a9ba9cf928fe 11 * @author Bruno Denis (for comments)
denis2nis 1:a9ba9cf928fe 12 *
denis2nis 1:a9ba9cf928fe 13 */
denis2nis 0:7556356a8bcd 14
denis2nis 0:7556356a8bcd 15 #include "mbed.h"
denis2nis 0:7556356a8bcd 16
denis2nis 0:7556356a8bcd 17 #define MX12_ANSWER_MAX_SIZE 32
denis2nis 0:7556356a8bcd 18 #define MX12_MOTOR_COUNT 16
denis2nis 0:7556356a8bcd 19
denis2nis 2:02f3323a107d 20 /* Dynamixel protocol v1.0 : Instructions
denis2nis 2:02f3323a107d 21 ******************************************/
denis2nis 2:02f3323a107d 22 #define PROTOCOL_INSTRUCTION_PING 0x01
denis2nis 2:02f3323a107d 23 #define PROTOCOL_INSTRUCTION_READ 0x02
denis2nis 2:02f3323a107d 24 #define PROTOCOL_INSTRUCTION_WRITE 0x03
denis2nis 2:02f3323a107d 25 #define PROTOCOL_INSTRUCTION_REG_WRITE 0x04
denis2nis 2:02f3323a107d 26 #define PROTOCOL_INSTRUCTION_ACTION 0x05
denis2nis 2:02f3323a107d 27 #define PROTOCOL_INSTRUCTION_FACTORY_RESET 0x06
denis2nis 2:02f3323a107d 28 #define PROTOCOL_INSTRUCTION_REBOOT 0x08
denis2nis 2:02f3323a107d 29 #define PROTOCOL_INSTRUCTION_SYNC_WRITE 0x83
denis2nis 2:02f3323a107d 30 #define PROTOCOL_INSTRUCTION_BULK_READ 0x92
denis2nis 2:02f3323a107d 31
denis2nis 2:02f3323a107d 32
denis2nis 2:02f3323a107d 33
denis2nis 2:02f3323a107d 34 /**
denis2nis 2:02f3323a107d 35 * @brief Class to communicate with Dynamixel MX12 servomotors.
denis2nis 1:a9ba9cf928fe 36 *
denis2nis 2:02f3323a107d 37 * @details
denis2nis 2:02f3323a107d 38 * The servomotors are daisy chained to a serial link of the target
denis2nis 2:02f3323a107d 39 * microcontroller. The class ensures the initialization of serial link
denis2nis 2:02f3323a107d 40 * and the management of communications.
denis2nis 2:02f3323a107d 41 * Transmission of messages to the servomotors is blocking while
denis2nis 2:02f3323a107d 42 * reception is non-blocking thanks to the use of an interrupt routine.
denis2nis 1:a9ba9cf928fe 43 *
denis2nis 1:a9ba9cf928fe 44 */
denis2nis 0:7556356a8bcd 45 class MX12
denis2nis 0:7556356a8bcd 46 {
denis2nis 0:7556356a8bcd 47 public:
denis2nis 0:7556356a8bcd 48
denis2nis 2:02f3323a107d 49 /** Status enum, possible status of servomotor
denis2nis 1:a9ba9cf928fe 50 *
denis2nis 1:a9ba9cf928fe 51 */
denis2nis 0:7556356a8bcd 52 enum Status {
denis2nis 2:02f3323a107d 53 InstructionError, ///<
denis2nis 0:7556356a8bcd 54 OverloadError,
denis2nis 0:7556356a8bcd 55 ChecksumError,
denis2nis 0:7556356a8bcd 56 RangeError,
denis2nis 0:7556356a8bcd 57 OverheatingError,
denis2nis 0:7556356a8bcd 58 AngleLimitError,
denis2nis 0:7556356a8bcd 59 InputVoltageError,
denis2nis 0:7556356a8bcd 60 Unknown,
denis2nis 0:7556356a8bcd 61 Ok
denis2nis 0:7556356a8bcd 62 };
denis2nis 0:7556356a8bcd 63
denis2nis 2:02f3323a107d 64 /** State enum, possible state of communication automaton
denis2nis 1:a9ba9cf928fe 65 *
denis2nis 1:a9ba9cf928fe 66 */
denis2nis 1:a9ba9cf928fe 67 enum State {
denis2nis 0:7556356a8bcd 68 ReadingPosition,
denis2nis 0:7556356a8bcd 69 Writing,
denis2nis 0:7556356a8bcd 70 Available,
denis2nis 0:7556356a8bcd 71 };
denis2nis 0:7556356a8bcd 72
denis2nis 0:7556356a8bcd 73 /** Create MX12 instance
denis2nis 0:7556356a8bcd 74 *
denis2nis 0:7556356a8bcd 75 * @param tx board pin used for transmission in UART daisy chain link
denis2nis 0:7556356a8bcd 76 * to servomotors
denis2nis 0:7556356a8bcd 77 * @param rx board pin used for reception in UART daisy chain link
denis2nis 0:7556356a8bcd 78 * to servomotors
denis2nis 0:7556356a8bcd 79 * @param baud modulation rate of UART signal, unit: Baud
denis2nis 0:7556356a8bcd 80 * to servomotors
denis2nis 0:7556356a8bcd 81 */
denis2nis 0:7556356a8bcd 82 MX12(PinName tx, PinName rx, int baud=115200);
denis2nis 0:7556356a8bcd 83
denis2nis 0:7556356a8bcd 84 /** Send desired speed to a specifc servomotor
denis2nis 0:7556356a8bcd 85 *
denis2nis 0:7556356a8bcd 86 * @param mot_id a unique value in the daisy chain network to identify
denis2nis 0:7556356a8bcd 87 * each servomotor
denis2nis 0:7556356a8bcd 88 * @param speed a float between -1 and 1 that represents the percentage
denis2nis 0:7556356a8bcd 89 * of maximum requested speed
denis2nis 0:7556356a8bcd 90 */
denis2nis 0:7556356a8bcd 91 void SetSpeed(unsigned char mot_id, float speed);
denis2nis 0:7556356a8bcd 92
denis2nis 0:7556356a8bcd 93 char IsAvailable(void);
denis2nis 0:7556356a8bcd 94
denis2nis 0:7556356a8bcd 95 MX12::Status GetStatus(void);
denis2nis 0:7556356a8bcd 96
denis2nis 1:a9ba9cf928fe 97
denis2nis 0:7556356a8bcd 98 void ReadPosition(unsigned char mot_id);
denis2nis 0:7556356a8bcd 99
denis2nis 0:7556356a8bcd 100 float GetPosition(unsigned char mot_id);
denis2nis 0:7556356a8bcd 101
denis2nis 0:7556356a8bcd 102 void PrintAnswer();
denis2nis 0:7556356a8bcd 103
denis2nis 2:02f3323a107d 104 /**
denis2nis 2:02f3323a107d 105 * Build and send an instruction packet to a servomotor according
denis2nis 2:02f3323a107d 106 * DYNAMIXEL Protocol 1.0 (online protocol documentation
denis2nis 2:02f3323a107d 107 * https://emanual.robotis.com/docs/en/dxl/protocol1/)
denis2nis 2:02f3323a107d 108 *
denis2nis 2:02f3323a107d 109 * @param[in] mot_id indicates the ID of the device (servomotor) that
denis2nis 2:02f3323a107d 110 * should receive the Instruction Packet and process it
denis2nis 2:02f3323a107d 111 * @param[in] address data address in the "Control Table of RAM Area"
denis2nis 2:02f3323a107d 112 * of a servomotor MX12 (https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/#control-table-of-ram-area).
denis2nis 2:02f3323a107d 113 * @param[in] len if it is a write instruction, size in bytes
denis2nis 2:02f3323a107d 114 * of the data to write in the "Control Table of RAM Area"
denis2nis 2:02f3323a107d 115 * @param[in] data array of char containing parameter of Danamixel
denis2nis 2:02f3323a107d 116 * protocol that are the instruction’s auxiliary data field
denis2nis 2:02f3323a107d 117 *
denis2nis 2:02f3323a107d 118 */
denis2nis 2:02f3323a107d 119 void rw(unsigned char mot_id, char address, char len, char *data);
denis2nis 0:7556356a8bcd 120
denis2nis 1:a9ba9cf928fe 121 /** Interupt Routine to read in data from UART daisy chain link
denis2nis 1:a9ba9cf928fe 122 * (serial port)
denis2nis 1:a9ba9cf928fe 123 *
denis2nis 1:a9ba9cf928fe 124 */
denis2nis 0:7556356a8bcd 125 void _ReadCallback();
denis2nis 0:7556356a8bcd 126
denis2nis 0:7556356a8bcd 127 char _chksm;
denis2nis 0:7556356a8bcd 128
denis2nis 0:7556356a8bcd 129 private:
denis2nis 0:7556356a8bcd 130
denis2nis 0:7556356a8bcd 131 UnbufferedSerial _mx12;
denis2nis 0:7556356a8bcd 132 MX12::Status _status;
denis2nis 0:7556356a8bcd 133 char _res[MX12_ANSWER_MAX_SIZE];
denis2nis 0:7556356a8bcd 134 char _res_count;
denis2nis 0:7556356a8bcd 135 char _len;
denis2nis 0:7556356a8bcd 136 MX12::State _state;
denis2nis 0:7556356a8bcd 137 float _angle[MX12_MOTOR_COUNT];
denis2nis 0:7556356a8bcd 138 int _baud;
denis2nis 0:7556356a8bcd 139 };
denis2nis 0:7556356a8bcd 140
denis2nis 0:7556356a8bcd 141 #endif /* MBED_MX12_H */