PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

MX12.h@0:7556356a8bcd, 2021-11-03 (annotated)

Committer:
denis2nis
Date:
Wed Nov 03 11:17:12 2021 +0000
Revision:
0:7556356a8bcd
Child:
1:a9ba9cf928fe
Initial commit

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 0:7556356a8bcd 4 /** Class to communicate with Dynamixel MX12 servomotors.
denis2nis 0:7556356a8bcd 5 *
denis2nis 0:7556356a8bcd 6 *
denis2nis 0:7556356a8bcd 7 */
denis2nis 0:7556356a8bcd 8
denis2nis 0:7556356a8bcd 9 #include "mbed.h"
denis2nis 0:7556356a8bcd 10
denis2nis 0:7556356a8bcd 11 #define MX12_ANSWER_MAX_SIZE 32
denis2nis 0:7556356a8bcd 12 #define MX12_MOTOR_COUNT 16
denis2nis 0:7556356a8bcd 13
denis2nis 0:7556356a8bcd 14 class MX12
denis2nis 0:7556356a8bcd 15 {
denis2nis 0:7556356a8bcd 16 public:
denis2nis 0:7556356a8bcd 17
denis2nis 0:7556356a8bcd 18 enum Status {
denis2nis 0:7556356a8bcd 19 InstructionError,
denis2nis 0:7556356a8bcd 20 OverloadError,
denis2nis 0:7556356a8bcd 21 ChecksumError,
denis2nis 0:7556356a8bcd 22 RangeError,
denis2nis 0:7556356a8bcd 23 OverheatingError,
denis2nis 0:7556356a8bcd 24 AngleLimitError,
denis2nis 0:7556356a8bcd 25 InputVoltageError,
denis2nis 0:7556356a8bcd 26 Unknown,
denis2nis 0:7556356a8bcd 27 Ok
denis2nis 0:7556356a8bcd 28 };
denis2nis 0:7556356a8bcd 29
denis2nis 0:7556356a8bcd 30 enum State {
denis2nis 0:7556356a8bcd 31 ReadingPosition,
denis2nis 0:7556356a8bcd 32 Writing,
denis2nis 0:7556356a8bcd 33 Available,
denis2nis 0:7556356a8bcd 34 };
denis2nis 0:7556356a8bcd 35
denis2nis 0:7556356a8bcd 36 /** Create MX12 instance
denis2nis 0:7556356a8bcd 37 *
denis2nis 0:7556356a8bcd 38 * @param tx board pin used for transmission in UART daisy chain link
denis2nis 0:7556356a8bcd 39 * to servomotors
denis2nis 0:7556356a8bcd 40 * @param rx board pin used for reception in UART daisy chain link
denis2nis 0:7556356a8bcd 41 * to servomotors
denis2nis 0:7556356a8bcd 42 * @param baud modulation rate of UART signal, unit: Baud
denis2nis 0:7556356a8bcd 43 * to servomotors
denis2nis 0:7556356a8bcd 44 */
denis2nis 0:7556356a8bcd 45 MX12(PinName tx, PinName rx, int baud=115200);
denis2nis 0:7556356a8bcd 46
denis2nis 0:7556356a8bcd 47 /** Send desired speed to a specifc servomotor
denis2nis 0:7556356a8bcd 48 *
denis2nis 0:7556356a8bcd 49 * @param mot_id a unique value in the daisy chain network to identify
denis2nis 0:7556356a8bcd 50 * each servomotor
denis2nis 0:7556356a8bcd 51 * @param speed a float between -1 and 1 that represents the percentage
denis2nis 0:7556356a8bcd 52 * of maximum requested speed
denis2nis 0:7556356a8bcd 53 */
denis2nis 0:7556356a8bcd 54 void SetSpeed(unsigned char mot_id, float speed);
denis2nis 0:7556356a8bcd 55
denis2nis 0:7556356a8bcd 56 char IsAvailable(void);
denis2nis 0:7556356a8bcd 57
denis2nis 0:7556356a8bcd 58 MX12::Status GetStatus(void);
denis2nis 0:7556356a8bcd 59
denis2nis 0:7556356a8bcd 60 void ReadPosition(unsigned char mot_id);
denis2nis 0:7556356a8bcd 61
denis2nis 0:7556356a8bcd 62 float GetPosition(unsigned char mot_id);
denis2nis 0:7556356a8bcd 63
denis2nis 0:7556356a8bcd 64 void PrintAnswer();
denis2nis 0:7556356a8bcd 65
denis2nis 0:7556356a8bcd 66 void rw(unsigned char mot_id, char adress, char len, char *data);
denis2nis 0:7556356a8bcd 67
denis2nis 0:7556356a8bcd 68 void _ReadCallback();
denis2nis 0:7556356a8bcd 69
denis2nis 0:7556356a8bcd 70 char _chksm;
denis2nis 0:7556356a8bcd 71
denis2nis 0:7556356a8bcd 72 private:
denis2nis 0:7556356a8bcd 73
denis2nis 0:7556356a8bcd 74 UnbufferedSerial _mx12;
denis2nis 0:7556356a8bcd 75 MX12::Status _status;
denis2nis 0:7556356a8bcd 76 char _res[MX12_ANSWER_MAX_SIZE];
denis2nis 0:7556356a8bcd 77 char _res_count;
denis2nis 0:7556356a8bcd 78 char _len;
denis2nis 0:7556356a8bcd 79 MX12::State _state;
denis2nis 0:7556356a8bcd 80 float _angle[MX12_MOTOR_COUNT];
denis2nis 0:7556356a8bcd 81 int _baud;
denis2nis 0:7556356a8bcd 82 };
denis2nis 0:7556356a8bcd 83
denis2nis 0:7556356a8bcd 84 #endif /* MBED_MX12_H */