AX12.h

00001 /* mbed AX-12+ Servo Library
00002  *
00003  * Copyright (c) 2010, cstyles (http://mbed.org)
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  */
00023 
00024 #ifndef MBED_AX12_H
00025 #define MBED_AX12_H
00026 
00027 #include "mbed.h"
00028 
00029 //#define AX12_WRITE_DEBUG 0
00030 //#define AX12_READ_DEBUG 0
00031 //#define AX12_TRIGGER_DEBUG 0
00032 //#define AX12_DEBUG 0
00033 
00034 #define AX12_REG_ID 0x3
00035 #define AX12_REG_BAUD 0x4
00036 #define AX12_REG_CW_LIMIT 0x06
00037 #define AX12_REG_CCW_LIMIT 0x08
00038 #define AX12_REG_GOAL_POSITION 0x1E
00039 #define AX12_REG_MOVING_SPEED 0x20
00040 #define AX12_REG_VOLTS 0x2A
00041 #define AX12_REG_TEMP 0x2B
00042 #define AX12_REG_MOVING 0x2E
00043 #define AX12_REG_POSITION 0x24
00044 
00045 #define AX12_MODE_POSITION  0
00046 #define AX12_MODE_ROTATION  1
00047 
00048 #define AX12_CW 1
00049 #define AX12_CCW 0
00050 
00051 #/** Servo control class, based on a PwmOut
00052  *
00053  * Example:
00054  * @code
00055  * #include "mbed.h"
00056  * #include "AX12.h"
00057  * 
00058  * int main() {
00059  * 
00060  *   AX12 myax12 (p9, p10, 1);
00061  *
00062  *   while (1) {
00063  *       myax12.SetGoal(0);    // go to 0 degrees
00064  *       wait (2.0);
00065  *       myax12.SetGoal(300);  // go to 300 degrees
00066  *       wait (2.0);
00067  *   }
00068  * }
00069  * @endcode
00070  */
00071 class AX12 {
00072 
00073 public:
00074 
00075     /** Create an AX12 servo object connected to the specified serial port, with the specified ID
00076      *
00077      * @param pin tx pin
00078      * @param pin rx pin 
00079      * @param int ID, the Bus ID of the servo 1-255 
00080      */
00081     AX12(PinName tx, PinName rx, int ID, int baud=1000000);
00082 
00083     /** Set the mode of the servo
00084      * @param mode
00085      *    0 = Positional, default
00086      *    1 = Continuous rotation
00087      */
00088     int setMode(int mode);
00089 
00090     /** Set baud rate of all attached servos
00091      * @param mode
00092      *    0x01 = 1,000,000 bps
00093      *    0x03 =   500,000 bps
00094      *    0x04 =   400,000 bps
00095      *    0x07 =   250,000 bps
00096      *    0x09 =   200,000 bps
00097      *    0x10 =   115,200 bps
00098      *    0x22 =    57,600 bps
00099      *    0x67 =    19,200 bps
00100      *    0xCF =     9,600 bp
00101      */
00102     int setBaud(int baud);
00103 
00104 
00105     /** Set goal angle in integer degrees, in positional mode
00106      *
00107      * @param degrees 0-300
00108      * @param flags, defaults to 0
00109      *    flags[0] = blocking, return when goal position reached 
00110      *    flags[1] = register, activate with a broadcast trigger
00111      *
00112      */
00113     int setGoal(int degrees, int flags = 0);
00114     
00115     /** Get goal angle (internal, not from the AX12)
00116      *
00117      */
00118      
00119      int getGoal(){return _goal;}
00120     
00121     
00122     /** Set the torque limit of the servo
00123      *
00124      * @param maxTorque, 0-1024
00125      */
00126     int setMaxTorque(int maxTorque);
00127 
00128 
00129     /** Set the speed of the servo in continuous rotation mode
00130      *
00131      * @param speed, -1.0 to 1.0
00132      *   -1.0 = full speed counter clock wise
00133      *    1.0 = full speed clock wise
00134      */
00135     int setCRSpeed(float speed);
00136 
00137 
00138     /** Set the clockwise limit of the servo
00139      *
00140      * @param degrees, 0-300
00141      */
00142     int setCWLimit(int degrees);
00143     
00144     /** Set the counter-clockwise limit of the servo
00145      *
00146      * @param degrees, 0-300
00147      */
00148     int setCCWLimit(int degrees);
00149 
00150     // Change the ID
00151 
00152     /** Change the ID of a servo
00153      *
00154      * @param CurentID 1-255
00155      * @param NewID 1-255
00156      *
00157      * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
00158      * In this situation, only one servo should be connected to the bus
00159      */
00160     int setID(int CurrentID, int NewID);
00161 
00162 
00163     /** Poll to see if the servo is moving
00164      *
00165      * @returns true is the servo is moving
00166      */
00167     int isMoving(void);
00168 
00169     /** Send the broadcast "trigger" command, to activate any outstanding registered commands
00170      */
00171     void trigger(void);
00172 
00173     /** Read the current angle of the servo
00174      *
00175      * @returns float in the range 0.0-300.0
00176      */
00177     float getPosition();
00178 
00179     /** Read the temperature of the servo
00180      *
00181      * @returns float temperature 
00182      */
00183     float getTemp(void);
00184 
00185     /** Read the supply voltage of the servo
00186      *
00187      * @returns float voltage
00188      */
00189     float getVolts(void);
00190 
00191     int read(int ID, int start, int length, char* data);
00192     int write(int ID, int start, int length, char* data, int flag=0);
00193 
00194 private :
00195 
00196     Serial _ax12;
00197     int _ID;
00198     int _baud;
00199     int _goal;
00200 
00201 };
00202 
00203 #endif