Georgios Petrou / MX28

A library to control MX28 servos. It could also be used with the rest of the MX series servos.

Dependents:   IDcheck

Fork of MX28 by Georgios Petrou

This library is based on Robotis documentation regarding the dynamixel and MX28 protocols

It is part of a bigger project involving seven mbeds to control a hexapod robot.

I have not tried to control other MX series servos, but it should be possible to use this library with minor modifications.

Utilities.h@2:85216442d3ef, 2013-04-03 (annotated)

Committer:
GIPetrou
Date:
Wed Apr 03 16:44:50 2013 +0000
Revision:
2:85216442d3ef
Parent:
1:5f537df9dca8 
Updated code to work with latest mbed version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GIPetrou 0:ea5b951002cf 1 /* Copyright (c) 2012 Georgios Petrou, MIT License
GIPetrou 0:ea5b951002cf 2 *
GIPetrou 0:ea5b951002cf 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
GIPetrou 0:ea5b951002cf 4 * and associated documentation files (the "Software"), to deal in the Software without restriction,
GIPetrou 0:ea5b951002cf 5 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
GIPetrou 0:ea5b951002cf 6 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
GIPetrou 0:ea5b951002cf 7 * furnished to do so, subject to the following conditions:
GIPetrou 0:ea5b951002cf 8 *
GIPetrou 0:ea5b951002cf 9 * The above copyright notice and this permission notice shall be included in all copies or
GIPetrou 0:ea5b951002cf 10 * substantial portions of the Software.
GIPetrou 0:ea5b951002cf 11 *
GIPetrou 0:ea5b951002cf 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
GIPetrou 0:ea5b951002cf 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
GIPetrou 0:ea5b951002cf 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
GIPetrou 0:ea5b951002cf 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
GIPetrou 0:ea5b951002cf 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
GIPetrou 0:ea5b951002cf 17 */
GIPetrou 0:ea5b951002cf 18
GIPetrou 2:85216442d3ef 19 #ifndef MX28_UTILITIES_H
GIPetrou 2:85216442d3ef 20 #define MX28_UTILITIES_H
GIPetrou 0:ea5b951002cf 21
GIPetrou 0:ea5b951002cf 22 #include "mbed.h"
GIPetrou 0:ea5b951002cf 23
GIPetrou 1:5f537df9dca8 24 /** MX28 utility functions class
GIPetrou 1:5f537df9dca8 25 */
GIPetrou 0:ea5b951002cf 26 class Utilities
GIPetrou 0:ea5b951002cf 27 {
GIPetrou 0:ea5b951002cf 28 public:
GIPetrou 0:ea5b951002cf 29 /** Get the checksum for a packet.
GIPetrou 0:ea5b951002cf 30 *
GIPetrou 0:ea5b951002cf 31 * @param data The array of bytes.
GIPetrou 0:ea5b951002cf 32 * @param length The size of the array.
GIPetrou 0:ea5b951002cf 33 * @return checksum
GIPetrou 0:ea5b951002cf 34 */
GIPetrou 0:ea5b951002cf 35 static uint8_t GetCheckSum(const uint8_t *data, uint8_t length);
GIPetrou 0:ea5b951002cf 36
GIPetrou 0:ea5b951002cf 37 /** Convert a UInt16 number to array of chars.
GIPetrou 0:ea5b951002cf 38 *
GIPetrou 0:ea5b951002cf 39 * @param value The number value.
GIPetrou 0:ea5b951002cf 40 * @param data The array to store the conversion.
GIPetrou 0:ea5b951002cf 41 */
GIPetrou 0:ea5b951002cf 42 static void ConvertUInt16ToUInt8Array(uint16_t value, uint8_t* data);
GIPetrou 0:ea5b951002cf 43
GIPetrou 0:ea5b951002cf 44 /** Convert an Int16 number to array of chars.
GIPetrou 0:ea5b951002cf 45 *
GIPetrou 0:ea5b951002cf 46 * @param value The number value.
GIPetrou 0:ea5b951002cf 47 * @param data The array to store the conversion.
GIPetrou 0:ea5b951002cf 48 */
GIPetrou 0:ea5b951002cf 49 static void ConvertInt16ToUInt8Array(int16_t value, uint8_t* data);
GIPetrou 0:ea5b951002cf 50
GIPetrou 0:ea5b951002cf 51 /** Convert a UInt32 number to array of chars.
GIPetrou 0:ea5b951002cf 52 *
GIPetrou 0:ea5b951002cf 53 * @param value The number value.
GIPetrou 0:ea5b951002cf 54 * @param data The array to store the conversion.
GIPetrou 0:ea5b951002cf 55 */
GIPetrou 0:ea5b951002cf 56 static void ConvertUInt32ToUInt8Array(uint32_t value, uint8_t* data);
GIPetrou 0:ea5b951002cf 57
GIPetrou 0:ea5b951002cf 58 /** Convert an Int32 number to array of chars.
GIPetrou 0:ea5b951002cf 59 *
GIPetrou 0:ea5b951002cf 60 * @param value The number value.
GIPetrou 0:ea5b951002cf 61 * @param data The array to store the conversion.
GIPetrou 0:ea5b951002cf 62 */
GIPetrou 0:ea5b951002cf 63 static void ConvertInt32ToUInt8Array(int32_t value, uint8_t* data);
GIPetrou 0:ea5b951002cf 64
GIPetrou 0:ea5b951002cf 65 /** Convert an array of char to UInt16.
GIPetrou 0:ea5b951002cf 66 *
GIPetrou 0:ea5b951002cf 67 * @param data The array containing the chars.
GIPetrou 0:ea5b951002cf 68 * @return UInt16 converted number.
GIPetrou 0:ea5b951002cf 69 */
GIPetrou 0:ea5b951002cf 70 static uint16_t ConvertUInt8ArrayToUInt16(uint8_t* data);
GIPetrou 0:ea5b951002cf 71
GIPetrou 0:ea5b951002cf 72 /** Convert an array of char to Int16.
GIPetrou 0:ea5b951002cf 73 *
GIPetrou 0:ea5b951002cf 74 * @param data The array containing the chars.
GIPetrou 0:ea5b951002cf 75 * @return Int16 converted number.
GIPetrou 0:ea5b951002cf 76 */
GIPetrou 0:ea5b951002cf 77 static int16_t ConvertUInt8ArrayToInt16(uint8_t* data);
GIPetrou 0:ea5b951002cf 78
GIPetrou 0:ea5b951002cf 79 /** Convert an array of char to Int32.
GIPetrou 0:ea5b951002cf 80 *
GIPetrou 0:ea5b951002cf 81 * @param data The array containing the chars.
GIPetrou 0:ea5b951002cf 82 * @return Int32 number.
GIPetrou 0:ea5b951002cf 83 */
GIPetrou 0:ea5b951002cf 84 static int32_t ConvertUInt8ArrayToInt32(uint8_t* data);
GIPetrou 0:ea5b951002cf 85 };
GIPetrou 0:ea5b951002cf 86
GIPetrou 2:85216442d3ef 87 #endif // MX28_UTILITIES_H
GIPetrou 0:ea5b951002cf 88