A lot of change
Dependents: MX106-finaltest dynamixel Arm_dynamixel_can Arm_dynamixel_can_procedurale
MX106.cpp
- Committer:
- clynamen
- Date:
- 2016-06-26
- Revision:
- 2:6722a00e6184
- Parent:
- 1:555b9b4a1ecd
- Child:
- 3:adeaefc32a41
File content as of revision 2:6722a00e6184:
#include "MX106.h" #include "mbed.h" #include "communication_1.h" //360°/4095 #define RESOLUTION 0.088 //bit per degrees 4095/360° #define BIT_DEG 11.375 #define READ_DEBUG 1 MX106::MX106(int ID, communication_1& line, float gear_train) : _line(line) { _gear_train = gear_train; _ID = ID; } int MX106::SetMode(int mode) { switch (mode){ //Wheel Mode case (0): SetCWLimit(0); SetCCWLimit(0); SetCRSpeed(0.0); _mode = mode; break; //Joint Mode case (1): SetCWLimit(RESOLUTION); SetCCWLimit(RESOLUTION); SetCRSpeed(0.0); _mode = mode; break; //Multi-turn Mode case (2): SetCWLimit(360); SetCCWLimit(360); SetCRSpeed(0.0); _mode = mode; break; //other cases default: if(READ_DEBUG){ printf("Not valid mode"); } } return(0); } int MX106::SetCWLimit(float degrees) { char data[2]; short limit = (short)(BIT_DEG * degrees * _gear_train); data[0] = limit & 0xff; // bottom 8 bits data[1] = limit >> 8; // top 8 bits // write the packet, return the error code return(_line.write(_ID, REG_CW_LIMIT, 2, data)); } int MX106::SetCCWLimit (float degrees) { char data[2]; //TODO: review this short limit = (short)(BIT_DEG * degrees * _gear_train); data[0] = limit & 0xff; // bottom 8 bits data[1] = limit >> 8; // top 8 bits // write the packet, return the error code return (_line.write(_ID, REG_CCW_LIMIT, 2, data)); } int MX106::GoalPosition(float degrees) { char data[2]; short gaol_position = (short)(BIT_DEG * degrees * _gear_train); data[0] = gaol_position & 0xff; // bottom 8 bits data[1] = gaol_position >> 8; // top 8 bits // write the packet, return the error code return(_line.write(_ID, REG_GOAL_POSITION, 2, data)); } int MX106::SetSpeed(float goal_speed) { // bit 10 = direction, 0 = CCW, 1=CW // bits 9-0 = Speed char data[2]; int goal = (0x3ff * abs(goal_speed * _gear_train)); // Set direction CW if we have a negative speed if (goal_speed < 0) { goal |= (0x1 << 10); } data[0] = goal & 0xff; // bottom 8 bits data[1] = goal >> 8; // top 8 bits // write the packet, return the error code return(_line.write(_ID, REG_MOVING_SPEED, 2, data)); } int MX106::SetCRSpeed(float speed) { // bit 10 = direction, 0 = CCW, 1=CW // bits 9-0 = Speed char data[2]; int goal = (0x3ff * abs(speed)); // Set direction CW if we have a negative speed if (speed < 0) { goal |= (0x1 << 10); } data[0] = goal & 0xff; // bottom 8 bits data[1] = goal >> 8; // top 8 bits // write the packet, return the error code int rVal = _line.write( _ID, 0x20, 2, data); return(rVal); } float MX106::GetTemp(void) { char data[1]; int ErrorCode = _line.read( _ID, REG_TEMP, 1, data); float temp = data[0]; return(temp); }