AX12.h

00001 /* Copyright (C) 2016 Telesensorics Inc, MIT License
00002  *
00003  * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
00004  * and associated documentation files (the "Software"), to deal in the Software without restriction, 
00005  * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
00006  * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
00007  * furnished to do so, subject to the following conditions:
00008  *
00009  * The above copyright notice and this permission notice shall be included in all copies or 
00010  * substantial portions of the Software.
00011  *
00012  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
00013  * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
00014  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
00015  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
00016  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017  */
00018 
00019 #ifndef MBED_AX12_H
00020 #define MBED_AX12_H
00021 
00022 #include "mbed.h"
00023 #include "DynamixelBus.h"
00024 
00025 
00026 enum ControlTable
00027 {
00028     ctModelNumberLow      = 0,        // RD
00029     ctModelNumberHigh     = 1,        // RD
00030     ctFirmwareVersion     = 2,        // RD
00031     ctID                  = 3,        // RD/WR
00032     ctBaudRate            = 4,        // RD/WR
00033     ctReturnDelayTime     = 5,        // RD/WR
00034     ctCWAngleLimitL       = 6,        // RD/WR
00035     ctCWAngleLimitH       = 7,        // RD/WR
00036     ctCCWAngleLimitL      = 8,        // RD/WR
00037     ctCCWAngleLimitH      = 9,        // RD/WR
00038     ctReserved1           = 10,
00039     ctTemperatureLimit    = 11,       // RD/WR
00040     ctVoltageLow          = 12,       // RD/WR
00041     ctVoltageHigh         = 13,       // RD/WR
00042     ctMaxTorqueL          = 14,       // RD/WR
00043     ctMaxTorqueH          = 15,       // RD/WR
00044     ctStatusReturnLevel   = 16,       // RD/WR
00045     ctAlarmLED            = 17,       // RD/WR
00046     ctAlarmShutdown       = 18,       // RD/WR
00047     ctReserved2           = 19,
00048     ctDownCalibrationL    = 20,       // RR
00049     ctDownCalibrationH    = 21,       // RD
00050     ctUpCalibrationL      = 22,       // RD
00051     ctUpCalibrationH      = 23,       // RD
00052     ctTorqueEnable        = 24,       // RD/WR
00053     ctLED                 = 25,       // RD/WR
00054     ctCWComplianceMargin  = 26,       // RD/WR
00055     ctCCWComplianceMargin = 27,       // RD/WR
00056     ctCWComplianceSlope   = 28,       // RD/WR
00057     ctCCWComplianceSlope  = 29,       // RD/WR
00058     ctGoalPositionL       = 30,       // RD/WR
00059     ctGoalPositionH       = 31,       // RD/WR
00060     ctMovingSpeedL        = 32,       // RD/WR
00061     ctMovingSpeedH        = 33,       // RD/WR
00062     ctTorqueLimitL        = 34,       // RD/WR
00063     ctTorqueLimitH        = 35,       // RD/WR
00064     ctPresentPositionL    = 36,       // RD
00065     ctPresentPositionH    = 37,       // RD
00066     ctPresentSpeedL       = 38,       // RD
00067     ctPresentSpeedH       = 39,       // RD
00068     ctPresentLoadL        = 40,       // RD
00069     ctPresentLoadH        = 41,       // RD
00070     ctPresentVoltage      = 42,       // RD
00071     ctPresentTemperature  = 43,       // RD
00072     ctRegisteredInst      = 44,       // RD/WR
00073     ctReserved3           = 45,       
00074     ctMoving              = 46,       // RD
00075     ctLock                = 47,       // RD/WR
00076     ctPunchL              = 48,       // RD/WR
00077     ctPunchH              = 49        // RD/WR
00078 };
00079 
00080 // to reduce time reading values from servo, 
00081 // we read values as a block from PresentPosition through Moving
00082 // these are cached until ClearCache call
00083 enum CachedControlTable
00084 {
00085     cctPresentPositionL    = 36 - 36,
00086     cctPresentPositionH    = 37 - 36,
00087     cctPresentSpeedL       = 38 - 36,
00088     cctPresentSpeedH       = 39 - 36,
00089     cctPresentLoadL        = 40 - 36,
00090     cctPresentLoadH        = 41 - 36,
00091     cctPresentVoltage      = 42 - 36,
00092     cctPresentTemperature  = 43 - 36,
00093     cctRegisteredInst      = 44 - 36,
00094     cctReserved3           = 45 - 36,
00095     cctMoving              = 46 - 36
00096 };
00097 
00098 const unsigned char AX12ReadBlockStart  = ctPresentPositionL;
00099 const unsigned char AX12ReadBlockLength = ctLock - ctPresentPositionL;
00100 
00101 class AX12
00102 {
00103 
00104 public:
00105     AX12(DynamixelBus* pbus, ServoId = 1);
00106 
00107     // clear cache to force actual read from servo
00108     void ClearCache();
00109     
00110     // sets the servo ID
00111     StatusCode SetServoId(char newId);
00112 
00113     // returns the status of the servo (connected/not connected + errors)
00114     StatusCode Ping(void);
00115 
00116     // Sets the goal position of the servo in degrees
00117     StatusCode SetGoal(float degrees);
00118 
00119     // determines if the servo is moving
00120     bool IsMoving(void);
00121 
00122     // gets the position of the servo in degrees
00123     float GetPosition(void);
00124 
00125     // gets the internal temperature of the servo
00126     int GetTemperature(void);
00127 
00128     // gets the servo power supply voltage
00129     float GetSupplyVoltage(void);
00130     
00131     // Sets the replay delay for dynamixel protocol
00132     StatusCode SetReplyDelay(int us);
00133 
00134     // gets the servo load
00135     float GetLoad(void);
00136     
00137     // enables/disables holding torque 
00138     StatusCode TorqueEnable( bool );
00139 
00140     // get last error
00141     virtual int GetLastError();
00142    
00143     // check if has error
00144     virtual bool HasError();
00145 
00146     
00147 private :
00148     ServoId _ID;
00149     DynamixelBus* _pbus;
00150     
00151     unsigned char _LastError;
00152     
00153     unsigned char _ReadCache[AX12ReadBlockLength];
00154     bool _HasReadCache;
00155 
00156     StatusCode LoadReadCache();
00157 };
00158 #endif