Diff: MX12.h

Revision:

2:02f3323a107d

Parent:

1:a9ba9cf928fe

Child:

3:add8b050eb86

--- a/MX12.h	Wed Nov 03 12:56:02 2021 +0000
+++ b/MX12.h	Thu Nov 04 06:12:21 2021 +0000
@@ -5,6 +5,7 @@
 * @file MX12.h  
 * @brief this header file will contain all required  
 *        definitions and basic utilities functions. 
+* @details comming soon
 *  
 * @author Titouan Soulard 
 * @author Bruno Denis (for comments)
@@ -16,19 +17,40 @@
 #define MX12_ANSWER_MAX_SIZE 32
 #define MX12_MOTOR_COUNT 16
 
-/** Class to communicate with Dynamixel MX12 servomotors. 
+/* Dynamixel protocol v1.0 : Instructions
+ ******************************************/
+#define PROTOCOL_INSTRUCTION_PING          0x01
+#define PROTOCOL_INSTRUCTION_READ          0x02
+#define PROTOCOL_INSTRUCTION_WRITE         0x03
+#define PROTOCOL_INSTRUCTION_REG_WRITE     0x04
+#define PROTOCOL_INSTRUCTION_ACTION        0x05
+#define PROTOCOL_INSTRUCTION_FACTORY_RESET 0x06
+#define PROTOCOL_INSTRUCTION_REBOOT        0x08
+#define PROTOCOL_INSTRUCTION_SYNC_WRITE    0x83
+#define PROTOCOL_INSTRUCTION_BULK_READ     0x92
+
+
+
+/** 
+ * @brief Class to communicate with Dynamixel MX12 servomotors. 
  *
+ * @details
+ *  The servomotors are daisy chained to a serial link of the target 
+ *  microcontroller. The class ensures the initialization of serial link 
+ *  and the management of communications. 
+ *  Transmission of messages to the servomotors is blocking while 
+ *  reception is non-blocking thanks to the use of an interrupt routine. 
  *  
  */
 class MX12 
 {
     public:
     
-        /** Status of servomotor
+        /** Status enum, possible status of servomotor
          *
          */
         enum Status {
-            InstructionError,
+            InstructionError, ///< 
             OverloadError,
             ChecksumError,
             RangeError,
@@ -39,7 +61,7 @@
             Ok
         };
         
-        /** State of communication automaton
+        /** State enum, possible state of communication automaton
          *
          */
          enum State {
@@ -79,7 +101,22 @@
         
         void PrintAnswer();
         
-        void rw(unsigned char mot_id, char adress, char len, char *data);
+        /**
+         * Build and send an instruction packet to a servomotor according
+         * DYNAMIXEL Protocol 1.0 (online protocol documentation 
+         * https://emanual.robotis.com/docs/en/dxl/protocol1/)
+         *
+         * @param[in] mot_id indicates the ID of the device (servomotor) that
+         *            should receive the Instruction Packet and process it
+         * @param[in] address data address in the "Control Table of RAM Area"
+         *            of a servomotor MX12 (https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/#control-table-of-ram-area).
+         * @param[in] len if it is a write instruction, size in bytes 
+         *            of the data to write in the "Control Table of RAM Area"
+         * @param[in] data array of char containing parameter of Danamixel  
+         *            protocol that are the instruction’s auxiliary data field
+         *  
+         */
+        void rw(unsigned char mot_id, char address, char len, char *data);
         
         /** Interupt Routine to read in data from UART daisy chain link
          *  (serial port)