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?
User | Revision | Line number | New 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 | } |