robot arm demo team / AX-12A

Provides an interface to an AX-12A servo. Requires the Dynamixel bus protocol library/

Fork of AX-12A by Jonathan Pickett

AX12.h@0:1a48094c99d1, 2015-12-10 (annotated)

Committer:
jepickett
Date:
Thu Dec 10 21:45:59 2015 +0000
Revision:
0:1a48094c99d1
Child:
1:d7642b2e155d
Initial check in for AX-12A servo. Depends on the dynamixel bus protocol library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jepickett 0:1a48094c99d1 1 /* Copyright (c) 2012 Martin Smith, MIT License
jepickett 0:1a48094c99d1 2 *
jepickett 0:1a48094c99d1 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
jepickett 0:1a48094c99d1 4 * and associated documentation files (the "Software"), to deal in the Software without restriction,
jepickett 0:1a48094c99d1 5 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
jepickett 0:1a48094c99d1 6 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
jepickett 0:1a48094c99d1 7 * furnished to do so, subject to the following conditions:
jepickett 0:1a48094c99d1 8 *
jepickett 0:1a48094c99d1 9 * The above copyright notice and this permission notice shall be included in all copies or
jepickett 0:1a48094c99d1 10 * substantial portions of the Software.
jepickett 0:1a48094c99d1 11 *
jepickett 0:1a48094c99d1 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
jepickett 0:1a48094c99d1 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
jepickett 0:1a48094c99d1 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
jepickett 0:1a48094c99d1 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jepickett 0:1a48094c99d1 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
jepickett 0:1a48094c99d1 17 */
jepickett 0:1a48094c99d1 18
jepickett 0:1a48094c99d1 19 #ifndef MBED_AX12_H
jepickett 0:1a48094c99d1 20 #define MBED_AX12_H
jepickett 0:1a48094c99d1 21
jepickett 0:1a48094c99d1 22 #include "mbed.h"
jepickett 0:1a48094c99d1 23 #include "DynamixelBus.h"
jepickett 0:1a48094c99d1 24
jepickett 0:1a48094c99d1 25
jepickett 0:1a48094c99d1 26 enum ControlTable
jepickett 0:1a48094c99d1 27 {
jepickett 0:1a48094c99d1 28 ModelNumberLow = 0, // RD
jepickett 0:1a48094c99d1 29 ModelNumberHigh = 1, // RD
jepickett 0:1a48094c99d1 30 FirmwareVersion = 2, // RD
jepickett 0:1a48094c99d1 31 ID = 3, // RD/WR
jepickett 0:1a48094c99d1 32 BaudRate = 4, // RD/WR
jepickett 0:1a48094c99d1 33 ReturnDelayTime = 5, // RD/WR
jepickett 0:1a48094c99d1 34 CWAngleLimitL = 6, // RD/WR
jepickett 0:1a48094c99d1 35 CWAngleLimitH = 7, // RD/WR
jepickett 0:1a48094c99d1 36 CCWAngleLimitL = 8, // RD/WR
jepickett 0:1a48094c99d1 37 CCWAngleLimitH = 9, // RD/WR
jepickett 0:1a48094c99d1 38 Reserved1 = 10,
jepickett 0:1a48094c99d1 39 TemperatureLimit = 11, // RD/WR
jepickett 0:1a48094c99d1 40 VoltageLow = 12, // RD/WR
jepickett 0:1a48094c99d1 41 VoltageHigh = 13, // RD/WR
jepickett 0:1a48094c99d1 42 MaxTorqueL = 14, // RD/WR
jepickett 0:1a48094c99d1 43 MaxTorqueH = 15, // RD/WR
jepickett 0:1a48094c99d1 44 StatusReturnLevel = 16, // RD/WR
jepickett 0:1a48094c99d1 45 AlarmLED = 17, // RD/WR
jepickett 0:1a48094c99d1 46 AlarmShutdown = 18, // RD/WR
jepickett 0:1a48094c99d1 47 Reserved2 = 19,
jepickett 0:1a48094c99d1 48 DownCalibrationL = 20, // RR
jepickett 0:1a48094c99d1 49 DownCalibrationH = 21, // RD
jepickett 0:1a48094c99d1 50 UpCalibrationL = 22, // RD
jepickett 0:1a48094c99d1 51 UpCalibrationH = 23, // RD
jepickett 0:1a48094c99d1 52 TorqueEnable = 24, // RD/WR
jepickett 0:1a48094c99d1 53 LED = 25, // RD/WR
jepickett 0:1a48094c99d1 54 CWComplianceMargin = 26, // RD/WR
jepickett 0:1a48094c99d1 55 CCWComplianceMargin = 27, // RD/WR
jepickett 0:1a48094c99d1 56 CWComplianceSlope = 28, // RD/WR
jepickett 0:1a48094c99d1 57 CCWComplianceSlope = 29, // RD/WR
jepickett 0:1a48094c99d1 58 GoalPositionL = 30, // RD/WR
jepickett 0:1a48094c99d1 59 GoalPositionH = 31, // RD/WR
jepickett 0:1a48094c99d1 60 MovingSpeedL = 32, // RD/WR
jepickett 0:1a48094c99d1 61 MovingSpeedH = 33, // RD/WR
jepickett 0:1a48094c99d1 62 TorqueLimitL = 34, // RD/WR
jepickett 0:1a48094c99d1 63 TorqueLimitH = 35, // RD/WR
jepickett 0:1a48094c99d1 64 PresentPositionL = 36, // RD
jepickett 0:1a48094c99d1 65 PresentPositionH = 37, // RD
jepickett 0:1a48094c99d1 66 PresentSpeedL = 38, // RD
jepickett 0:1a48094c99d1 67 PresentSpeedH = 39, // RD
jepickett 0:1a48094c99d1 68 PresentLoadL = 40, // RD
jepickett 0:1a48094c99d1 69 PresentLoadH = 41, // RD
jepickett 0:1a48094c99d1 70 PresentVoltage = 42, // RD
jepickett 0:1a48094c99d1 71 PresentTemperature = 43, // RD
jepickett 0:1a48094c99d1 72 RegisteredInst = 44, // RD/WR
jepickett 0:1a48094c99d1 73 Reserved3 = 45,
jepickett 0:1a48094c99d1 74 Moving = 46, // RD
jepickett 0:1a48094c99d1 75 Lock = 47, // RD/WR
jepickett 0:1a48094c99d1 76 PunchL = 48, // RD/WR
jepickett 0:1a48094c99d1 77 PunchH = 49 // RD/WR
jepickett 0:1a48094c99d1 78 };
jepickett 0:1a48094c99d1 79
jepickett 0:1a48094c99d1 80 class AX12
jepickett 0:1a48094c99d1 81 {
jepickett 0:1a48094c99d1 82
jepickett 0:1a48094c99d1 83 public:
jepickett 0:1a48094c99d1 84 AX12(DynamixelBus* pbus, ServoId = 1);
jepickett 0:1a48094c99d1 85
jepickett 0:1a48094c99d1 86 // returns the status of the servo (connected/not connected + errors)
jepickett 0:1a48094c99d1 87 StatusCode Ping();
jepickett 0:1a48094c99d1 88
jepickett 0:1a48094c99d1 89 // Sets toe goal position of the servo in degrees
jepickett 0:1a48094c99d1 90 StatusCode SetGoal(float degrees);
jepickett 0:1a48094c99d1 91
jepickett 0:1a48094c99d1 92 // determines if the servo is moving
jepickett 0:1a48094c99d1 93 bool IsMoving(void);
jepickett 0:1a48094c99d1 94
jepickett 0:1a48094c99d1 95 // gets the position of the servo in degrees
jepickett 0:1a48094c99d1 96 float GetPosition();
jepickett 0:1a48094c99d1 97
jepickett 0:1a48094c99d1 98 // gets the internal temperature of the servo
jepickett 0:1a48094c99d1 99 float GetTemperature(void);
jepickett 0:1a48094c99d1 100
jepickett 0:1a48094c99d1 101 // gets the servo power supply voltage
jepickett 0:1a48094c99d1 102 float GetSupplyVoltage(void);
jepickett 0:1a48094c99d1 103
jepickett 0:1a48094c99d1 104 private :
jepickett 0:1a48094c99d1 105 ServoId _ID;
jepickett 0:1a48094c99d1 106 DynamixelBus* _pbus;
jepickett 0:1a48094c99d1 107 };
jepickett 0:1a48094c99d1 108 #endif