robot arm demo team
Provides an interface to an AX-12A servo. Requires the Dynamixel bus protocol library/
Fork of
AX-12A
by 
Jonathan Pickett
Diff: AX12.h
- Revision:
- 1:d7642b2e155d
- Parent:
- 0:1a48094c99d1
- Child:
- 2:f2da3b1d9988
- Child:
- 3:7b970151bf19
--- a/AX12.h Thu Dec 10 21:45:59 2015 +0000
+++ b/AX12.h Tue Dec 15 04:37:54 2015 +0000
@@ -25,56 +25,56 @@
enum ControlTable
{
- ModelNumberLow = 0, // RD
- ModelNumberHigh = 1, // RD
- FirmwareVersion = 2, // RD
- ID = 3, // RD/WR
- BaudRate = 4, // RD/WR
- ReturnDelayTime = 5, // RD/WR
- CWAngleLimitL = 6, // RD/WR
- CWAngleLimitH = 7, // RD/WR
- CCWAngleLimitL = 8, // RD/WR
- CCWAngleLimitH = 9, // RD/WR
- Reserved1 = 10,
- TemperatureLimit = 11, // RD/WR
- VoltageLow = 12, // RD/WR
- VoltageHigh = 13, // RD/WR
- MaxTorqueL = 14, // RD/WR
- MaxTorqueH = 15, // RD/WR
- StatusReturnLevel = 16, // RD/WR
- AlarmLED = 17, // RD/WR
- AlarmShutdown = 18, // RD/WR
- Reserved2 = 19,
- DownCalibrationL = 20, // RR
- DownCalibrationH = 21, // RD
- UpCalibrationL = 22, // RD
- UpCalibrationH = 23, // RD
- TorqueEnable = 24, // RD/WR
- LED = 25, // RD/WR
- CWComplianceMargin = 26, // RD/WR
- CCWComplianceMargin = 27, // RD/WR
- CWComplianceSlope = 28, // RD/WR
- CCWComplianceSlope = 29, // RD/WR
- GoalPositionL = 30, // RD/WR
- GoalPositionH = 31, // RD/WR
- MovingSpeedL = 32, // RD/WR
- MovingSpeedH = 33, // RD/WR
- TorqueLimitL = 34, // RD/WR
- TorqueLimitH = 35, // RD/WR
- PresentPositionL = 36, // RD
- PresentPositionH = 37, // RD
- PresentSpeedL = 38, // RD
- PresentSpeedH = 39, // RD
- PresentLoadL = 40, // RD
- PresentLoadH = 41, // RD
- PresentVoltage = 42, // RD
- PresentTemperature = 43, // RD
- RegisteredInst = 44, // RD/WR
- Reserved3 = 45,
- Moving = 46, // RD
- Lock = 47, // RD/WR
- PunchL = 48, // RD/WR
- PunchH = 49 // RD/WR
+ ctModelNumberLow = 0, // RD
+ ctModelNumberHigh = 1, // RD
+ ctFirmwareVersion = 2, // RD
+ ctID = 3, // RD/WR
+ ctBaudRate = 4, // RD/WR
+ ctReturnDelayTime = 5, // RD/WR
+ ctCWAngleLimitL = 6, // RD/WR
+ ctCWAngleLimitH = 7, // RD/WR
+ ctCCWAngleLimitL = 8, // RD/WR
+ ctCCWAngleLimitH = 9, // RD/WR
+ ctReserved1 = 10,
+ ctTemperatureLimit = 11, // RD/WR
+ ctVoltageLow = 12, // RD/WR
+ ctVoltageHigh = 13, // RD/WR
+ ctMaxTorqueL = 14, // RD/WR
+ ctMaxTorqueH = 15, // RD/WR
+ ctStatusReturnLevel = 16, // RD/WR
+ ctAlarmLED = 17, // RD/WR
+ ctAlarmShutdown = 18, // RD/WR
+ ctReserved2 = 19,
+ ctDownCalibrationL = 20, // RR
+ ctDownCalibrationH = 21, // RD
+ ctUpCalibrationL = 22, // RD
+ ctUpCalibrationH = 23, // RD
+ ctTorqueEnable = 24, // RD/WR
+ ctLED = 25, // RD/WR
+ ctCWComplianceMargin = 26, // RD/WR
+ ctCCWComplianceMargin = 27, // RD/WR
+ ctCWComplianceSlope = 28, // RD/WR
+ ctCCWComplianceSlope = 29, // RD/WR
+ ctGoalPositionL = 30, // RD/WR
+ ctGoalPositionH = 31, // RD/WR
+ ctMovingSpeedL = 32, // RD/WR
+ ctMovingSpeedH = 33, // RD/WR
+ ctTorqueLimitL = 34, // RD/WR
+ ctTorqueLimitH = 35, // RD/WR
+ ctPresentPositionL = 36, // RD
+ ctPresentPositionH = 37, // RD
+ ctPresentSpeedL = 38, // RD
+ ctPresentSpeedH = 39, // RD
+ ctPresentLoadL = 40, // RD
+ ctPresentLoadH = 41, // RD
+ ctPresentVoltage = 42, // RD
+ ctPresentTemperature = 43, // RD
+ ctRegisteredInst = 44, // RD/WR
+ ctReserved3 = 45,
+ ctMoving = 46, // RD
+ ctLock = 47, // RD/WR
+ ctPunchL = 48, // RD/WR
+ ctPunchH = 49 // RD/WR
};
class AX12
@@ -96,10 +96,13 @@
float GetPosition();
// gets the internal temperature of the servo
- float GetTemperature(void);
+ int GetTemperature(void);
// gets the servo power supply voltage
float GetSupplyVoltage(void);
+
+ // enables/disables holding torque
+ StatusCode TorqueEnable( bool );
private :
ServoId _ID;