Team DIANA / MX106_not_working

A lot of change

Dependents:   MX106-finaltest dynamixel Arm_dynamixel_can Arm_dynamixel_can_procedurale

MX106.cpp@2:6722a00e6184, 2016-06-26 (annotated)

Committer:
clynamen
Date:
Sun Jun 26 21:46:29 2016 +0000
Revision:
2:6722a00e6184
Parent:
1:555b9b4a1ecd
Child:
3:adeaefc32a41
fixed errors;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dconsoli 0:8fda718cb527 1 #include "MX106.h"
dconsoli 0:8fda718cb527 2 #include "mbed.h"
mattiasub 1:555b9b4a1ecd 3 #include "communication_1.h"
dconsoli 0:8fda718cb527 4 //360°/4095
clynamen 2:6722a00e6184 5 #define RESOLUTION 0.088
dconsoli 0:8fda718cb527 6 //bit per degrees 4095/360°
clynamen 2:6722a00e6184 7 #define BIT_DEG 11.375
dconsoli 0:8fda718cb527 8
dconsoli 0:8fda718cb527 9 #define READ_DEBUG 1
dconsoli 0:8fda718cb527 10
clynamen 2:6722a00e6184 11 MX106::MX106(int ID, communication_1& line, float gear_train) : _line(line) {
dconsoli 0:8fda718cb527 12 _gear_train = gear_train;
dconsoli 0:8fda718cb527 13 _ID = ID;
dconsoli 0:8fda718cb527 14 }
dconsoli 0:8fda718cb527 15
dconsoli 0:8fda718cb527 16
dconsoli 0:8fda718cb527 17 int MX106::SetMode(int mode) {
dconsoli 0:8fda718cb527 18 switch (mode){
dconsoli 0:8fda718cb527 19 //Wheel Mode
dconsoli 0:8fda718cb527 20 case (0):
dconsoli 0:8fda718cb527 21 SetCWLimit(0);
dconsoli 0:8fda718cb527 22 SetCCWLimit(0);
dconsoli 0:8fda718cb527 23 SetCRSpeed(0.0);
dconsoli 0:8fda718cb527 24 _mode = mode;
dconsoli 0:8fda718cb527 25 break;
dconsoli 0:8fda718cb527 26 //Joint Mode
dconsoli 0:8fda718cb527 27 case (1):
dconsoli 0:8fda718cb527 28 SetCWLimit(RESOLUTION);
dconsoli 0:8fda718cb527 29 SetCCWLimit(RESOLUTION);
dconsoli 0:8fda718cb527 30 SetCRSpeed(0.0);
dconsoli 0:8fda718cb527 31 _mode = mode;
dconsoli 0:8fda718cb527 32 break;
dconsoli 0:8fda718cb527 33 //Multi-turn Mode
dconsoli 0:8fda718cb527 34 case (2):
dconsoli 0:8fda718cb527 35 SetCWLimit(360);
dconsoli 0:8fda718cb527 36 SetCCWLimit(360);
dconsoli 0:8fda718cb527 37 SetCRSpeed(0.0);
dconsoli 0:8fda718cb527 38 _mode = mode;
dconsoli 0:8fda718cb527 39 break;
dconsoli 0:8fda718cb527 40 //other cases
dconsoli 0:8fda718cb527 41 default:
dconsoli 0:8fda718cb527 42 if(READ_DEBUG){
dconsoli 0:8fda718cb527 43 printf("Not valid mode");
dconsoli 0:8fda718cb527 44 }
dconsoli 0:8fda718cb527 45 }
dconsoli 0:8fda718cb527 46 return(0);
dconsoli 0:8fda718cb527 47 }
dconsoli 0:8fda718cb527 48
dconsoli 0:8fda718cb527 49
dconsoli 0:8fda718cb527 50 int MX106::SetCWLimit(float degrees) {
dconsoli 0:8fda718cb527 51
dconsoli 0:8fda718cb527 52 char data[2];
dconsoli 0:8fda718cb527 53
dconsoli 0:8fda718cb527 54 short limit = (short)(BIT_DEG * degrees * _gear_train);
dconsoli 0:8fda718cb527 55
dconsoli 0:8fda718cb527 56 data[0] = limit & 0xff; // bottom 8 bits
dconsoli 0:8fda718cb527 57 data[1] = limit >> 8; // top 8 bits
dconsoli 0:8fda718cb527 58
dconsoli 0:8fda718cb527 59 // write the packet, return the error code
dconsoli 0:8fda718cb527 60 return(_line.write(_ID, REG_CW_LIMIT, 2, data));
dconsoli 0:8fda718cb527 61 }
dconsoli 0:8fda718cb527 62
clynamen 2:6722a00e6184 63 int MX106::SetCCWLimit (float degrees) {
dconsoli 0:8fda718cb527 64
dconsoli 0:8fda718cb527 65 char data[2];
dconsoli 0:8fda718cb527 66
clynamen 2:6722a00e6184 67 //TODO: review this
dconsoli 0:8fda718cb527 68 short limit = (short)(BIT_DEG * degrees * _gear_train);
dconsoli 0:8fda718cb527 69
clynamen 2:6722a00e6184 70
dconsoli 0:8fda718cb527 71 data[0] = limit & 0xff; // bottom 8 bits
dconsoli 0:8fda718cb527 72 data[1] = limit >> 8; // top 8 bits
dconsoli 0:8fda718cb527 73
dconsoli 0:8fda718cb527 74 // write the packet, return the error code
clynamen 2:6722a00e6184 75 return (_line.write(_ID, REG_CCW_LIMIT, 2, data));
dconsoli 0:8fda718cb527 76 }
dconsoli 0:8fda718cb527 77
mattiasub 1:555b9b4a1ecd 78 int MX106::GoalPosition(float degrees) {
dconsoli 0:8fda718cb527 79
dconsoli 0:8fda718cb527 80 char data[2];
dconsoli 0:8fda718cb527 81
dconsoli 0:8fda718cb527 82 short gaol_position = (short)(BIT_DEG * degrees * _gear_train);
dconsoli 0:8fda718cb527 83
dconsoli 0:8fda718cb527 84 data[0] = gaol_position & 0xff; // bottom 8 bits
dconsoli 0:8fda718cb527 85 data[1] = gaol_position >> 8; // top 8 bits
dconsoli 0:8fda718cb527 86
dconsoli 0:8fda718cb527 87 // write the packet, return the error code
dconsoli 0:8fda718cb527 88 return(_line.write(_ID, REG_GOAL_POSITION, 2, data));
dconsoli 0:8fda718cb527 89 }
dconsoli 0:8fda718cb527 90
dconsoli 0:8fda718cb527 91
dconsoli 0:8fda718cb527 92 int MX106::SetSpeed(float goal_speed) {
dconsoli 0:8fda718cb527 93
dconsoli 0:8fda718cb527 94 // bit 10 = direction, 0 = CCW, 1=CW
dconsoli 0:8fda718cb527 95 // bits 9-0 = Speed
dconsoli 0:8fda718cb527 96 char data[2];
dconsoli 0:8fda718cb527 97
clynamen 2:6722a00e6184 98 int goal = (0x3ff * abs(goal_speed * _gear_train));
dconsoli 0:8fda718cb527 99
dconsoli 0:8fda718cb527 100 // Set direction CW if we have a negative speed
clynamen 2:6722a00e6184 101 if (goal_speed < 0) {
dconsoli 0:8fda718cb527 102 goal |= (0x1 << 10);
dconsoli 0:8fda718cb527 103 }
dconsoli 0:8fda718cb527 104
dconsoli 0:8fda718cb527 105 data[0] = goal & 0xff; // bottom 8 bits
dconsoli 0:8fda718cb527 106 data[1] = goal >> 8; // top 8 bits
dconsoli 0:8fda718cb527 107
dconsoli 0:8fda718cb527 108 // write the packet, return the error code
dconsoli 0:8fda718cb527 109 return(_line.write(_ID, REG_MOVING_SPEED, 2, data));
dconsoli 0:8fda718cb527 110 }
mattiasub 1:555b9b4a1ecd 111 int MX106::SetCRSpeed(float speed) {
mattiasub 1:555b9b4a1ecd 112
mattiasub 1:555b9b4a1ecd 113 // bit 10 = direction, 0 = CCW, 1=CW
mattiasub 1:555b9b4a1ecd 114 // bits 9-0 = Speed
mattiasub 1:555b9b4a1ecd 115 char data[2];
mattiasub 1:555b9b4a1ecd 116
mattiasub 1:555b9b4a1ecd 117 int goal = (0x3ff * abs(speed));
mattiasub 1:555b9b4a1ecd 118
mattiasub 1:555b9b4a1ecd 119 // Set direction CW if we have a negative speed
mattiasub 1:555b9b4a1ecd 120 if (speed < 0) {
mattiasub 1:555b9b4a1ecd 121 goal |= (0x1 << 10);
mattiasub 1:555b9b4a1ecd 122 }
mattiasub 1:555b9b4a1ecd 123
mattiasub 1:555b9b4a1ecd 124 data[0] = goal & 0xff; // bottom 8 bits
mattiasub 1:555b9b4a1ecd 125 data[1] = goal >> 8; // top 8 bits
mattiasub 1:555b9b4a1ecd 126
mattiasub 1:555b9b4a1ecd 127 // write the packet, return the error code
clynamen 2:6722a00e6184 128 int rVal = _line.write( _ID, 0x20, 2, data);
mattiasub 1:555b9b4a1ecd 129
mattiasub 1:555b9b4a1ecd 130 return(rVal);
mattiasub 1:555b9b4a1ecd 131 }
dconsoli 0:8fda718cb527 132
dconsoli 0:8fda718cb527 133
mattiasub 1:555b9b4a1ecd 134 float MX106::GetTemp(void) {
dconsoli 0:8fda718cb527 135 char data[1];
mattiasub 1:555b9b4a1ecd 136 int ErrorCode = _line.read( _ID, REG_TEMP, 1, data);
dconsoli 0:8fda718cb527 137 float temp = data[0];
dconsoli 0:8fda718cb527 138 return(temp);
dconsoli 0:8fda718cb527 139 }