To be tested
Dependencies: Servo AX12_final MX106_not_working comunication_1
MX.h
- Committer:
- gidiana
- Date:
- 2019-07-29
- Revision:
- 22:ffb26af4d5d8
- Parent:
- 11:19e8022f60ea
File content as of revision 22:ffb26af4d5d8:
#ifndef MX_H #define MX_H #define MX_REG_ID 0x3 #define MX_REG_CW_LIMIT 0x06 #define MX_REG_CCW_LIMIT 0x08 #define MX_REG_GOAL_POSITION 0x1E #define MX_REG_MOVING_SPEED 0x20 #define MX_REG_VOLTS 0x2A #define MX_REG_AMPERE 0x44 #define MX_REG_TEMP 0x2B #define MX_REG_PGAIN 0x1C #define MX_REG_IGAIN 0x1B #define MX_REG_DGAIN 0X1A #define MX_REG_MOVING 0x2E #define MX_REG_MAXTORQUE 0x22 #define MX_REG_POSITION 0x24 #define MX_RESOLUTION 0.088 //bit per degrees 4095/360° #define MX_REG_MOTORONOFF 0x18 #define MX_BIT_DEG 11.375 #define MX_DEBUG 1 #define MX_TRIGGER_DEBUG 1 #define MX_REG_CURRENT 0x44 #define MX_REG_TEMP 0x2B #define MX_READ_DEBUG 1 #define AX12_WRITE_DEBUG 1 #define AX12_READ_DEBUG 1 #define AX12_TRIGGER_DEBUG 1 #define AX12_DEBUG 1 #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_REG_MAXTORQUE 0x22 #define AX12_REG_MOTORONOFF 0x18 #define AX12_MODE_POSITION 0 #define AX12_MODE_ROTATION 1 #define AX12_CW 1 #define AX12_CCW 1 #define goal_resolution 0.08789 #define READ_DEBUG 1 #include "Joint.h" // TODO: spostare i metodi uguali da MX106, MX64 in questo file e in MX.cpp. class MX : public Joint { public: MX(communication_1& line, int ID, float gear_train); virtual ~MX(); void setID(int newID); int getID(); /** Set the mode of the servo * @param mode * 0 = Positional, default * 1 = Continuous rotation */ virtual void setMode(int mode); void setCWLimitUnits(short limit); void setCCWLimitUnits(short limit); /** Set the clockwise limit of the servo * * @param degrees, 0-300 */ void setCWLimit(float degrees); /** Set the counter-clockwise limit of the servo * * @param degrees, 0-300 */ void setCCWLimit(float degrees); /** 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 */ //void setCRSpeed(float speed); // void setGoalPosition(float degrees); float getPosition(); /** 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); void setMaxSpeed(float degreeS); void setCRSpeed(float degreeS); void setSpeed(float degreeS); float getTemp(); float getCurrent(); float getVolts(); float getTorqueMax(); virtual float getPGain(); virtual float getIGain(); virtual float getDGain(); virtual void setPGain(float gain); virtual void setIGain(float gain); virtual void setDGain(float gain); void setMaxTorque(float torque); void setMotorEnabled(bool enabled); bool isMoving(); protected: communication_1& _line; float _gear_train; int _ID; int _mode; float maxSpeedDegreeS; float limitCWDegrees; float limitCCWDegrees;; }; #endif