A library to control MX28 servos. It could also be used with the rest of the MX series servos.
Fork of MX28 by
This library is based on Robotis documentation regarding the dynamixel and MX28 protocols
- http://robosavvy.com/docs/Bioloid/AX-12(english).pdf
- http://support.robotis.com/en/product/dynamixel/mx_series/mx-28.htm
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.cpp@2:85216442d3ef, 2013-04-03 (annotated)
- Committer:
- GIPetrou
- Date:
- Wed Apr 03 16:44:50 2013 +0000
- Revision:
- 2:85216442d3ef
- Parent:
- 0:ea5b951002cf
Updated code to work with latest mbed version
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:ea5b951002cf | 19 | #include "Utilities.h" |
GIPetrou | 0:ea5b951002cf | 20 | |
GIPetrou | 0:ea5b951002cf | 21 | uint8_t Utilities::GetCheckSum(const uint8_t *data, uint8_t length) |
GIPetrou | 0:ea5b951002cf | 22 | { |
GIPetrou | 0:ea5b951002cf | 23 | uint8_t checkSum = 0; |
GIPetrou | 0:ea5b951002cf | 24 | |
GIPetrou | 0:ea5b951002cf | 25 | for(int i = 0; i < length; i++) |
GIPetrou | 0:ea5b951002cf | 26 | checkSum += data[i]; |
GIPetrou | 0:ea5b951002cf | 27 | |
GIPetrou | 0:ea5b951002cf | 28 | checkSum = ~checkSum; |
GIPetrou | 0:ea5b951002cf | 29 | |
GIPetrou | 0:ea5b951002cf | 30 | return checkSum; |
GIPetrou | 0:ea5b951002cf | 31 | } |
GIPetrou | 0:ea5b951002cf | 32 | |
GIPetrou | 0:ea5b951002cf | 33 | void Utilities::ConvertUInt16ToUInt8Array(uint16_t value, uint8_t* data) |
GIPetrou | 0:ea5b951002cf | 34 | { |
GIPetrou | 0:ea5b951002cf | 35 | data[0] = value; |
GIPetrou | 0:ea5b951002cf | 36 | data[1] = value >> 8; |
GIPetrou | 0:ea5b951002cf | 37 | } |
GIPetrou | 0:ea5b951002cf | 38 | |
GIPetrou | 0:ea5b951002cf | 39 | void Utilities::ConvertInt16ToUInt8Array(int16_t value, uint8_t* data) |
GIPetrou | 0:ea5b951002cf | 40 | { |
GIPetrou | 0:ea5b951002cf | 41 | data[0] = value; |
GIPetrou | 0:ea5b951002cf | 42 | data[1] = value >> 8; |
GIPetrou | 0:ea5b951002cf | 43 | } |
GIPetrou | 0:ea5b951002cf | 44 | |
GIPetrou | 0:ea5b951002cf | 45 | void Utilities::ConvertUInt32ToUInt8Array(uint32_t value, uint8_t* data) |
GIPetrou | 0:ea5b951002cf | 46 | { |
GIPetrou | 0:ea5b951002cf | 47 | data[0] = value; |
GIPetrou | 0:ea5b951002cf | 48 | data[1] = value >> 8; |
GIPetrou | 0:ea5b951002cf | 49 | data[2] = value >> 16; |
GIPetrou | 0:ea5b951002cf | 50 | data[3] = value >> 24; |
GIPetrou | 0:ea5b951002cf | 51 | } |
GIPetrou | 0:ea5b951002cf | 52 | |
GIPetrou | 0:ea5b951002cf | 53 | void Utilities::ConvertInt32ToUInt8Array(int32_t value, uint8_t* data) |
GIPetrou | 0:ea5b951002cf | 54 | { |
GIPetrou | 0:ea5b951002cf | 55 | data[0] = value; |
GIPetrou | 0:ea5b951002cf | 56 | data[1] = value >> 8; |
GIPetrou | 0:ea5b951002cf | 57 | data[2] = value >> 16; |
GIPetrou | 0:ea5b951002cf | 58 | data[3] = value >> 24; |
GIPetrou | 0:ea5b951002cf | 59 | } |
GIPetrou | 0:ea5b951002cf | 60 | |
GIPetrou | 0:ea5b951002cf | 61 | uint16_t Utilities::ConvertUInt8ArrayToUInt16(uint8_t* data) |
GIPetrou | 0:ea5b951002cf | 62 | { |
GIPetrou | 0:ea5b951002cf | 63 | return (((uint16_t)data[1]) << 8) | ((uint16_t)data[0]); |
GIPetrou | 0:ea5b951002cf | 64 | } |
GIPetrou | 0:ea5b951002cf | 65 | |
GIPetrou | 0:ea5b951002cf | 66 | int16_t Utilities::ConvertUInt8ArrayToInt16(uint8_t* data) |
GIPetrou | 0:ea5b951002cf | 67 | { |
GIPetrou | 0:ea5b951002cf | 68 | return (((int16_t)data[1]) << 8) | ((int16_t)data[0]); |
GIPetrou | 0:ea5b951002cf | 69 | } |
GIPetrou | 0:ea5b951002cf | 70 | |
GIPetrou | 0:ea5b951002cf | 71 | int32_t Utilities::ConvertUInt8ArrayToInt32(uint8_t* data) |
GIPetrou | 0:ea5b951002cf | 72 | { |
GIPetrou | 0:ea5b951002cf | 73 | return (((int32_t)data[3]) << 24) | (((int32_t)data[2]) << 16) | (((int32_t)data[1]) << 8) | ((int32_t)data[0]); |
GIPetrou | 0:ea5b951002cf | 74 | } |
GIPetrou | 0:ea5b951002cf | 75 |