controlli aggiunti
Fork of AX12 by
Diff: AX12.h
- Revision:
- 0:be51952765ec
- Child:
- 1:93ad80f5fde7
diff -r 000000000000 -r be51952765ec AX12.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AX12.h Thu Jun 03 14:22:25 2010 +0000 @@ -0,0 +1,102 @@ +/* mbed AX-12+ 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_AX12_H +#define MBED_AX12_H + +#include "mbed.h" + +#define AX12_WRITE_DEBUG 0 +#define AX12_READ_DEBUG 0 +#define AX12_TRIGGER_DEBUG 0 +#define AX12_DEBUG 0 + +#define AX12_REG_ID 0x3 +#define AX12_REG_CW_LIMIT 0x06 +#define AX12_REG_CCW_LIMIT 0x08 +#define AX12_REG_GOAL_POSITION 0x1E +#define AX12_REG_MOVING_SPEED 0x20 +#define AX12_REG_VOLTS 0x2A +#define AX12_REG_TEMP 0x2B +#define AX12_REG_MOVING 0x2E +#define AX12_REG_POSITION 0x24 + +#define AX12_MODE_POSITION 0 +#define AX12_MODE_ROTATION 1 + +#define AX12_CW 1 +#define AX12_CCW 0 + +class AX12 { + +public: + + // define which pins are used, and the ID of this instance + // Mutiple AX12's can share the same pins. + AX12(PinName tx, PinName rx, int ID); + + // methods for writing and reading registers + int read(int ID, int start, int length, char* data); + int write(int ID, int start, int length, char* data, int flag=0); + + // set goal angle in integer degrees + // flags[0] = blocking (only returns when goal reached + // flags[1] = register. Requires broadcast trigger to activate + int SetGoal(int degrees, int flags = 0); + + // Mode = 0, positional + // Mode = 1, continuous rotation + int SetMode(int mode); + + // Speed is -1.0 (CCW) to 1.0 (CW) + int SetCRSpeed(float speed); + + // set these in degrees, CCW limit is 300 + // If both are set to zero, we are continuous rotation + int SetCWLimit(int degrees); + int SetCCWLimit(int degrees); + + // Change the ID + int SetID(int CurrentID, int NewID); + + // returns true if the motor is in motion + int isMoving(void); + + // broadcast to trigger registered goals + void trigger(void); + + // Get current angle, only valid 0-300 + float GetPosition(); + + // In volts and ^C + float GetTemp(void); + float GetVolts(void); + +private : + + SerialHalfDuplex _ax12; + int _ID; + +}; + +#endif