Revision 0:5de67898f1cc, committed 2010-12-14

Comitter:

DrCyberBob

Date:

Tue Dec 14 15:08:27 2010 +0000

Commit message:

Update to use constant for the servo ID (Robotis Servos default to 1)

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12.cpp	Tue Dec 14 15:08:27 2010 +0000
@@ -0,0 +1,470 @@
+/* mbed AX-12+ Servo Library
+ *
+ * Copyright (c) 2010, cstyles (http://mbed.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "AX12.h"
+#include "mbed.h"
+
+AX12::AX12(PinName tx, PinName rx, int ID)
+        : _ax12(tx,rx) {
+
+    _ax12.baud(1000000);
+    _ID = ID;
+}
+
+// return 1 is the servo is still in flight
+int AX12::isMoving(void) {
+
+    char data[1];
+    printf( "in is moving ....");
+    read(_ID,AX12_REG_MOVING,1,data);
+    return(data[0]);
+}
+
+// Set continuous rotation speed from -1 to 1
+int AX12::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 = write(_ID, 0x20, 2, data);
+
+    return(rVal);
+}
+
+// Set the mode of the servo
+//  0 = Positional (0-300 degrees)
+//  1 = Rotational -1 to 1 speed
+int AX12::SetMode(int mode) {
+
+    if (mode == 1) { // set CR
+        SetCWLimit(0);
+        SetCCWLimit(0);
+        SetCRSpeed(0.0);
+    } else {
+        SetCWLimit(0);
+        SetCCWLimit(300);
+        SetCRSpeed(0.0);
+    }
+    return(0);
+}
+
+float AX12::GetTemp (void) {
+
+    if (AX12_DEBUG) {
+        printf("\nGetTemp(%d)",_ID);
+    }
+    char data[1];
+    int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
+    float temp = data[0];
+    return(temp);
+}
+
+float AX12::GetVolts (void) {
+    if (AX12_DEBUG) {
+        printf("\nGetVolts(%d)",_ID);
+    }
+    char data[1];
+    int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
+    float volts = data[0]/10.0;
+    return(volts);
+}
+
+void AX12::trigger(void) {
+
+    char TxBuf[16];
+    char sum = 0;
+
+    if (AX12_TRIGGER_DEBUG) {
+        printf("\nTriggered\n");
+    }
+
+    // Build the TxPacket first in RAM, then we'll send in one go
+    if (AX12_TRIGGER_DEBUG) {
+        printf("\nTrigger Packet\n  Header : 0xFF, 0xFF\n");
+    }
+
+    TxBuf[0] = 0xFF;
+    TxBuf[1] = 0xFF;
+
+    // ID - Broadcast
+    TxBuf[2] = 0xFE;
+    sum += TxBuf[2];
+
+    if (AX12_TRIGGER_DEBUG) {
+        printf("  ID : %d\n",TxBuf[2]);
+    }
+
+    // Length
+    TxBuf[3] = 0x02;
+    sum += TxBuf[3];
+    if (AX12_TRIGGER_DEBUG) {
+        printf("  Length %d\n",TxBuf[3]);
+    }
+
+    // Instruction - ACTION
+    TxBuf[4] = 0x04;
+    sum += TxBuf[4];
+    if (AX12_TRIGGER_DEBUG) {
+        printf("  Instruction 0x%X\n",TxBuf[5]);
+    }
+
+    // Checksum
+    TxBuf[5] = 0xFF - sum;
+    if (AX12_TRIGGER_DEBUG) {
+        printf("  Checksum 0x%X\n",TxBuf[5]);
+    }
+
+    // Transmit the packet in one burst with no pausing
+    for (int i = 0; i < 6 ; i++) {
+        _ax12.putc(TxBuf[i]);
+    }
+    
+    // This is a broadcast packet, so there will be no reply
+
+    return;
+}
+
+int AX12::SetGoal(int degrees, int flags) {
+
+// if flag[0] is set, were blocking
+// if flag[1] is set, we're registering
+// they are mutually exclusive operations
+
+    char reg_flag = 0;
+
+    char data[2];
+
+    // set the flag is only the register bit is set in the flag
+    if (flags == 0x2) {
+        reg_flag = 1;
+    }
+
+    // 1023 / 300 * degrees
+    short goal = (1023 * degrees) / 300;
+    if (AX12_DEBUG) {
+        printf("SetGoal to 0x%x\n",goal);
+    }
+
+    data[0] = goal & 0xff; // bottom 8 bits
+    data[1] = goal >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
+    
+    if (flags == 1) {
+        // block until it comes to a halt
+        while (isMoving()) {}
+    }
+
+    return(rVal);
+
+}
+
+float AX12::GetPosition(void) {
+
+    if (AX12_DEBUG) {
+        printf("\nGetPosition(%d)",_ID);
+    }
+
+    char data[2];
+
+    int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
+    short position = data[0] + (data[1] << 8);
+    float angle = (position * 300)/1024;
+
+    return (angle);
+}
+
+int AX12::SetCWLimit (int degrees) {
+
+    char data[2];
+
+    // 1023 / 300 * degrees
+    short limit = (1023 * degrees) / 300;
+
+    if (AX12_DEBUG) {
+        printf("SetCWLimit to 0x%x\n",limit);
+    }
+
+    data[0] = limit & 0xff; // bottom 8 bits
+    data[1] = limit >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
+
+}
+
+int AX12::SetCCWLimit (int degrees) {
+
+    char data[2];
+
+    // 1023 / 300 * degrees
+    short limit = (1023 * degrees) / 300;
+
+    if (AX12_DEBUG) {
+        printf("SetCCWLimit to 0x%x\n",limit);
+    }
+
+    data[0] = limit & 0xff; // bottom 8 bits
+    data[1] = limit >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
+}
+
+int AX12::SetID (int CurrentID, int NewID) {
+
+    char data[1];
+    data[0] = NewID;
+    if (AX12_DEBUG) {
+        printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
+    }
+    return (write(CurrentID, AX12_REG_ID, 1, data));
+
+}
+
+
+int AX12::read(int ID, int start, int bytes, char* data) {
+
+    char PacketLength = 0x4;
+    char TxBuf[16];
+    char sum = 0;
+    char Status[16];
+
+    Status[4] = 0xFE; // return code
+
+    if (AX12_READ_DEBUG) {
+        printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
+    }
+
+    // Build the TxPacket first in RAM, then we'll send in one go
+    if (AX12_READ_DEBUG) {
+        printf("\nInstruction Packet\n  Header : 0xFF, 0xFF\n");
+    }
+
+    TxBuf[0] = 0xff;
+    TxBuf[1] = 0xff;
+
+    // ID
+    TxBuf[2] = ID;
+    sum += TxBuf[2];
+    if (AX12_READ_DEBUG) {
+        printf("  ID : %d\n",TxBuf[2]);
+    }
+
+    // Packet Length
+    TxBuf[3] = PacketLength;    // Length = 4 ; 2 + 1 (start) = 1 (bytes)
+    sum += TxBuf[3];            // Accululate the packet sum
+    if (AX12_READ_DEBUG) {
+        printf("  Length : 0x%x\n",TxBuf[3]);
+    }
+
+    // Instruction - Read
+    TxBuf[4] = 0x2;
+    sum += TxBuf[4];
+    if (AX12_READ_DEBUG) {
+        printf("  Instruction : 0x%x\n",TxBuf[4]);
+    }
+
+    // Start Address
+    TxBuf[5] = start;
+    sum += TxBuf[5];
+    if (AX12_READ_DEBUG) {
+        printf("  Start Address : 0x%x\n",TxBuf[5]);
+    }
+
+    // Bytes to read
+    TxBuf[6] = bytes;
+    sum += TxBuf[6];
+    if (AX12_READ_DEBUG) {
+        printf("  No bytes : 0x%x\n",TxBuf[6]);
+    }
+
+    // Checksum
+    TxBuf[7] = 0xFF - sum;
+    if (AX12_READ_DEBUG) {
+        printf("  Checksum : 0x%x\n",TxBuf[7]);
+    }
+
+    // Transmit the packet in one burst with no pausing
+    for (int i = 0; i<8 ; i++) {
+        _ax12.putc(TxBuf[i]);
+    }
+
+    // Wait for the bytes to be transmitted
+    wait (0.00002);
+
+    // Skip if the read was to the broadcast address
+    if (_ID != 0xFE) {
+
+        // Receive the Status packet 6+ number of bytes read
+        for (int i=0; i<(6+bytes) ; i++) {
+            Status[i] = _ax12.getc();
+        }
+
+        // Copy the data from Status into data for return
+        for (int i=0; i < Status[3]-2 ; i++) {
+            data[i] = Status[5+i];
+        }
+
+        if (AX12_READ_DEBUG) {
+            printf("\nStatus Packet\n");
+            printf("  Header : 0x%x\n",Status[0]);
+            printf("  Header : 0x%x\n",Status[1]);
+            printf("  ID : 0x%x\n",Status[2]);
+            printf("  Length : 0x%x\n",Status[3]);
+            printf("  Error Code : 0x%x\n",Status[4]);
+
+            for (int i=0; i < Status[3]-2 ; i++) {
+                printf("  Data : 0x%x\n",Status[5+i]);
+            }
+
+            printf("  Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
+        }
+
+    } // if (ID!=0xFE)
+
+    return(Status[4]);
+}
+
+int AX12:: write(int ID, int start, int bytes, char* data, int flag) {
+
+// number of bytes in packet
+// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
+// 7 + bytes
+
+    char TxBuf[16];
+    char sum = 0;
+    char Status[6];
+
+    if (AX12_WRITE_DEBUG) {
+        printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
+    }
+
+    // Build the TxPacket first in RAM, then we'll send in one go
+    if (AX12_WRITE_DEBUG) {
+        printf("\nInstruction Packet\n  Header : 0xFF, 0xFF\n");
+    }
+
+    TxBuf[0] = 0xff;
+    TxBuf[1] = 0xff;
+
+    // ID
+    TxBuf[2] = ID;
+    sum += TxBuf[2];
+
+    if (AX12_WRITE_DEBUG) {
+        printf("  ID : %d\n",TxBuf[2]);
+    }
+
+    // packet Length
+    TxBuf[3] = 3+bytes;
+    sum += TxBuf[3];
+
+    if (AX12_WRITE_DEBUG) {
+        printf("  Length : %d\n",TxBuf[3]);
+    }
+
+    // Instruction
+    if (flag == 1) {
+        TxBuf[4]=0x04;
+        sum += TxBuf[4];
+    } else {
+        TxBuf[4]=0x03;
+        sum += TxBuf[4];
+    }
+
+    if (AX12_WRITE_DEBUG) {
+        printf("  Instruction : 0x%x\n",TxBuf[4]);
+    }
+
+    // Start Address
+    TxBuf[5] = start;
+    sum += TxBuf[5];
+    if (AX12_WRITE_DEBUG) {
+        printf("  Start : 0x%x\n",TxBuf[5]);
+    }
+
+    // data
+    for (char i=0; i<bytes ; i++) {
+        TxBuf[6+i] = data[i];
+        sum += TxBuf[6+i];
+        if (AX12_WRITE_DEBUG) {
+            printf("  Data : 0x%x\n",TxBuf[6+i]);
+        }
+    }
+
+    // checksum
+    TxBuf[6+bytes] = 0xFF - sum;
+    if (AX12_WRITE_DEBUG) {
+        printf("  Checksum : 0x%x\n",TxBuf[6+bytes]);
+    }
+
+
+    // Transmit the packet in one burst with no pausing
+    for (int i = 0; i < (7 + bytes) ; i++) {
+        _ax12.putc(TxBuf[i]);
+    }
+
+
+    // Wait for data to transmit
+    wait (0.00002);
+
+    // make sure we have a valid return
+    Status[4]=0x00;
+
+    // we'll only get a reply if it was not broadcast
+    if (_ID!=0xFE) {
+
+        // response is always 6 bytes
+        // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+        for (int i=0; i < 6 ; i++) {
+            Status[i] = _ax12.getc();
+        }
+
+        // Build the TxPacket first in RAM, then we'll send in one go
+        if (AX12_WRITE_DEBUG) {
+            printf("\nStatus Packet\n  Header : 0x%X, 0x%X\n",Status[0],Status[1]);
+            printf("  ID : %d\n",Status[2]);
+            printf("  Length : %d\n",Status[3]);
+            printf("  Error : 0x%x\n",Status[4]);
+            printf("  Checksum : 0x%x\n",Status[5]);
+        }
+
+
+    }
+
+    return(Status[4]); // return error code
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12.h	Tue Dec 14 15:08:27 2010 +0000
@@ -0,0 +1,102 @@
+/* mbed AX-12+ Servo Library
+ *
+ * Copyright (c) 2010, cstyles (http://mbed.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTARE.
+ */
+#ifndef MBED_AX12_H
+#define MBED_AX12_H
+
+#include "mbed.h"
+#include "BlockingSerial.h"
+
+#define AX12_WRITE_DEBUG 0
+#define AX12_READ_DEBUG 0
+#define AX12_TRIGGER_DEBUG 0
+#define AX12_DEBUG 0
+
+#define AX12_REG_ID 0x3
+#define AX12_REG_CW_LIMIT 0x06
+#define AX12_REG_CCW_LIMIT 0x08
+#define AX12_REG_GOAL_POSITION 0x1E
+#define AX12_REG_MOVING_SPEED 0x20
+#define AX12_REG_VOLTS 0x2A
+#define AX12_REG_TEMP 0x2B
+#define AX12_REG_MOVING 0x2E
+#define AX12_REG_POSITION 0x24
+
+#define AX12_MODE_POSITION  0
+#define AX12_MODE_ROTATION  1
+
+#define AX12_CW 1
+#define AX12_CCW 0
+
+class AX12 {
+
+public:
+
+    // define which pins are used, and the ID of this instance
+    // Mutiple AX12's can share the same pins.
+    AX12(PinName tx, PinName rx, int ID);
+
+    // methods for writing and reading registers
+    int read(int ID, int start, int length, char* data);
+    int write(int ID, int start, int length, char* data, int flag=0);
+
+    // set goal angle in integer degrees
+    // flags[0] = blocking (only returns when goal reached
+    // flags[1] = register. Requires broadcast trigger to activate
+    int SetGoal(int degrees, int flags = 0);
+
+    // Mode = 0, positional
+    // Mode = 1, continuous rotation
+    int SetMode(int mode);
+
+    // Speed is -1.0 (CCW) to 1.0 (CW)
+    int SetCRSpeed(float speed);
+
+    // set these in degrees, CCW limit is 300
+    // If both are set to zero, we are continuous rotation
+    int SetCWLimit(int degrees);
+    int SetCCWLimit(int degrees);
+
+    // Change the ID
+    int SetID(int CurrentID, int NewID);
+
+    // returns true if the motor is in motion
+    int isMoving(void);
+
+    // broadcast to trigger registered goals
+    void trigger(void);
+
+    // Get current angle, only valid 0-300
+    float GetPosition();
+
+    // In volts and ^C
+    float GetTemp(void);
+    float GetVolts(void);
+
+private :
+    //SerialHalfDuplex _ax12;
+    BlockingSerial _ax12;
+    int _ID;
+
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BlockingSerial.h	Tue Dec 14 15:08:27 2010 +0000
@@ -0,0 +1,54 @@
+#ifndef _BLOCKING_SERIAL
+#define _BLOCKING_SERIAL
+
+#include "mbed.h"
+
+class BlockingSerial:public SerialHalfDuplex
+{
+    public:
+    
+        BlockingSerial(PinName tx, PinName rx, char * name = NULL): SerialHalfDuplex(tx, rx, name)
+        {
+        }
+        
+        int putc(int c)
+        {
+            if (writeable())
+            {
+                //printf("++++");        // MPN: for some reason this needs to be here??
+                return Serial::putc(c);
+            }
+            
+            return   -1;
+        }
+        
+        int getc( int timeout = 1)
+        {
+            // if infinite timeout or we have a character, call base getc()
+            if ( timeout == -1 || readable() )
+                return Serial::getc();
+    
+              // no character yet  
+              bool has_data = false;
+              // count elapsed time
+              Timer timer;
+              timer.start();
+              // loop until we have data or timeout elapses
+              while ( !has_data && timer.read_ms() < timeout )
+              {
+                // wait a short time
+                wait_ms(1);
+                // check again
+                has_data = readable();
+              }
+              // do we have anything?
+              if ( has_data )
+                // yes, read it
+                return Serial::getc();
+              else
+                // no, timed out
+                return -1;
+       };
+
+};
+#endif _BLOCKING_SERIAL
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Dec 14 15:08:27 2010 +0000
@@ -0,0 +1,137 @@
+#include "mbed.h"
+
+#include "AX12.h"
+#include <string>
+using namespace std;
+#define SERVO_ID 1
+
+PwmOut act1(p21);
+PwmOut act2(p22);
+PwmOut led1(LED1);
+AX12 myax12(p9, p10, SERVO_ID);
+Serial pc(USBTX, USBRX);
+
+int command = 0;
+#define MAX_BUFFER_SIZE 20
+int bufferCounter = 0;
+
+string buffer;
+string commandBuffer;
+bool validPacket = false;
+bool notFinished = true;
+
+void doCommand(string cmdBuffer)
+{
+    //printf("Command received: %s\n\r",cmdBuffer);
+
+    if (commandBuffer.length() == 0)
+        return;
+        
+    int index = commandBuffer.find("=");
+        
+    // format should be cmd=value - so check for valid position for the '='
+    if (index < 1)
+        return;
+
+    string cmd = cmdBuffer.substr(0,index);
+    string value = cmdBuffer.substr(index+1,cmdBuffer.length()-index-1);
+    
+    //printf("Cmd: %s\n\r",cmd);
+    //printf("Value: %s\n\r",value);  
+    
+    if (cmd=="act1")
+    {
+        act1=strtod(value.c_str(),NULL);
+        led1=act1;
+        printf("<act1=%s>\n\r",value);  
+    }
+    if (cmd=="act2")
+    {
+        act2=strtod(value.c_str(),NULL);
+        printf("<act2=%s>\n\r",value);
+    }
+    if (cmd=="servo1")
+    {
+        myax12.SetGoal(strtol(value.c_str(),NULL,10));  
+        printf("<servo1=%s>\n\r",value);
+    }
+    if (cmd=="led1")
+    {
+        led1 = strtod(value.c_str(),NULL);  
+        printf("<led1=%s>\n\r",value);
+    }
+    else if (cmd == "quit")
+    {
+        notFinished = false;
+        printf("Quitting ....\n\r");
+    }
+          
+}
+
+void serialHandler() 
+{
+    char ch = pc.getc();
+
+    // echo back
+    pc.putc(ch);
+    
+    switch(ch)
+    {
+        case '[':
+            buffer = "";
+            validPacket = true;
+            break;
+        case ']':
+            commandBuffer = buffer;
+            buffer = "";
+            validPacket = false;
+            doCommand(commandBuffer);
+            break;        
+        default:
+            if (validPacket)
+                buffer = buffer + ch;
+    
+    }
+        
+}
+
+void demo()
+{
+
+        myax12.SetGoal(80);  // go to 60 degrees
+        act1 = 0;
+        act2=1;
+        led1 = 0;
+        
+        wait (3.5);
+        
+        myax12.SetGoal(200); // go to 240 degrees
+        act1 = 1;
+        led1 = .7;
+        act2=0;
+        wait (3.5);
+
+}
+
+int main() {
+
+    pc.attach(serialHandler);
+    act1.period_us(100);
+    act1.pulsewidth_us(10);
+    act2.period_us(100);
+    act2.pulsewidth_us(10);
+    led1.period_us(100);
+    led1.pulsewidth_us(10);
+    act1 = 1.0;
+    act2 = 1.0;
+    led1 = 0.5;
+   
+    printf("Starting...");
+    
+    while (notFinished) 
+    {
+    }
+
+    printf("Finished...");
+
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Dec 14 15:08:27 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e