Romain Ame / Mbed 2 deprecated Timer71pt

Fork de Timer après le match à 61 points

Dependencies:   RoboClaw mbed

Fork of Timer by ARES

AX12/AX12.h@85:38cbf5fd22e1, 2016-05-06 (annotated)

Committer:
IceTeam
Date:
Fri May 06 09:49:01 2016 +0200
Revision:
85:38cbf5fd22e1
Rajout des AX12

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 85:38cbf5fd22e1 1 /* mbed AX-12+ Servo Library
IceTeam 85:38cbf5fd22e1 2 *
IceTeam 85:38cbf5fd22e1 3 * Copyright (c) 2010, cstyles (http://mbed.org)
IceTeam 85:38cbf5fd22e1 4 *
IceTeam 85:38cbf5fd22e1 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
IceTeam 85:38cbf5fd22e1 6 * of this software and associated documentation files (the "Software"), to deal
IceTeam 85:38cbf5fd22e1 7 * in the Software without restriction, including without limitation the rights
IceTeam 85:38cbf5fd22e1 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
IceTeam 85:38cbf5fd22e1 9 * copies of the Software, and to permit persons to whom the Software is
IceTeam 85:38cbf5fd22e1 10 * furnished to do so, subject to the following conditions:
IceTeam 85:38cbf5fd22e1 11 *
IceTeam 85:38cbf5fd22e1 12 * The above copyright notice and this permission notice shall be included in
IceTeam 85:38cbf5fd22e1 13 * all copies or substantial portions of the Software.
IceTeam 85:38cbf5fd22e1 14 *
IceTeam 85:38cbf5fd22e1 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IceTeam 85:38cbf5fd22e1 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
IceTeam 85:38cbf5fd22e1 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
IceTeam 85:38cbf5fd22e1 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
IceTeam 85:38cbf5fd22e1 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
IceTeam 85:38cbf5fd22e1 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
IceTeam 85:38cbf5fd22e1 21 * THE SOFTWARE.
IceTeam 85:38cbf5fd22e1 22 */
IceTeam 85:38cbf5fd22e1 23
IceTeam 85:38cbf5fd22e1 24 #ifndef MBED_AX12_H
IceTeam 85:38cbf5fd22e1 25 #define MBED_AX12_H
IceTeam 85:38cbf5fd22e1 26
IceTeam 85:38cbf5fd22e1 27 #include "mbed.h"
IceTeam 85:38cbf5fd22e1 28
IceTeam 85:38cbf5fd22e1 29 //#define AX12_WRITE_DEBUG 0
IceTeam 85:38cbf5fd22e1 30 //#define AX12_READ_DEBUG 0
IceTeam 85:38cbf5fd22e1 31 //#define AX12_TRIGGER_DEBUG 0
IceTeam 85:38cbf5fd22e1 32 //#define AX12_DEBUG 0
IceTeam 85:38cbf5fd22e1 33
IceTeam 85:38cbf5fd22e1 34 #define AX12_REG_ID 0x3
IceTeam 85:38cbf5fd22e1 35 #define AX12_REG_BAUD 0x4
IceTeam 85:38cbf5fd22e1 36 #define AX12_REG_CW_LIMIT 0x06
IceTeam 85:38cbf5fd22e1 37 #define AX12_REG_CCW_LIMIT 0x08
IceTeam 85:38cbf5fd22e1 38 #define AX12_REG_GOAL_POSITION 0x1E
IceTeam 85:38cbf5fd22e1 39 #define AX12_REG_MOVING_SPEED 0x20
IceTeam 85:38cbf5fd22e1 40 #define AX12_REG_VOLTS 0x2A
IceTeam 85:38cbf5fd22e1 41 #define AX12_REG_TEMP 0x2B
IceTeam 85:38cbf5fd22e1 42 #define AX12_REG_MOVING 0x2E
IceTeam 85:38cbf5fd22e1 43 #define AX12_REG_POSITION 0x24
IceTeam 85:38cbf5fd22e1 44 #define AX12_REG_LOAD 0x28
IceTeam 85:38cbf5fd22e1 45
IceTeam 85:38cbf5fd22e1 46 #define AX12_MODE_POSITION 0
IceTeam 85:38cbf5fd22e1 47 #define AX12_MODE_ROTATION 1
IceTeam 85:38cbf5fd22e1 48
IceTeam 85:38cbf5fd22e1 49 #define AX12_CW 1
IceTeam 85:38cbf5fd22e1 50 #define AX12_CCW 0
IceTeam 85:38cbf5fd22e1 51
IceTeam 85:38cbf5fd22e1 52 /** Servo control class, based on a PwmOut
IceTeam 85:38cbf5fd22e1 53 *
IceTeam 85:38cbf5fd22e1 54 * Example:
IceTeam 85:38cbf5fd22e1 55 * @code
IceTeam 85:38cbf5fd22e1 56 * #include "mbed.h"
IceTeam 85:38cbf5fd22e1 57 * #include "AX12.h"
IceTeam 85:38cbf5fd22e1 58 *
IceTeam 85:38cbf5fd22e1 59 * int main() {
IceTeam 85:38cbf5fd22e1 60 *
IceTeam 85:38cbf5fd22e1 61 * AX12 myax12 (p9, p10, 1);
IceTeam 85:38cbf5fd22e1 62 *
IceTeam 85:38cbf5fd22e1 63 * while (1) {
IceTeam 85:38cbf5fd22e1 64 * myax12.SetGoal(0); // go to 0 degrees
IceTeam 85:38cbf5fd22e1 65 * wait (2.0);
IceTeam 85:38cbf5fd22e1 66 * myax12.SetGoal(300); // go to 300 degrees
IceTeam 85:38cbf5fd22e1 67 * wait (2.0);
IceTeam 85:38cbf5fd22e1 68 * }
IceTeam 85:38cbf5fd22e1 69 * }
IceTeam 85:38cbf5fd22e1 70 * @endcode
IceTeam 85:38cbf5fd22e1 71 */
IceTeam 85:38cbf5fd22e1 72 class AX12 {
IceTeam 85:38cbf5fd22e1 73
IceTeam 85:38cbf5fd22e1 74 public:
IceTeam 85:38cbf5fd22e1 75
IceTeam 85:38cbf5fd22e1 76 /** Create an AX12 servo object connected to the specified serial port, with the specified ID
IceTeam 85:38cbf5fd22e1 77 *
IceTeam 85:38cbf5fd22e1 78 * @param pin tx pin
IceTeam 85:38cbf5fd22e1 79 * @param pin rx pin
IceTeam 85:38cbf5fd22e1 80 * @param int ID, the Bus ID of the servo 1-255
IceTeam 85:38cbf5fd22e1 81 */
IceTeam 85:38cbf5fd22e1 82 AX12(PinName tx, PinName rx, int ID, int baud=1000000);
IceTeam 85:38cbf5fd22e1 83
IceTeam 85:38cbf5fd22e1 84 /** Set the mode of the servo
IceTeam 85:38cbf5fd22e1 85 * @param mode
IceTeam 85:38cbf5fd22e1 86 * 0 = Positional, default
IceTeam 85:38cbf5fd22e1 87 * 1 = Continuous rotation
IceTeam 85:38cbf5fd22e1 88 */
IceTeam 85:38cbf5fd22e1 89 int setMode(int mode);
IceTeam 85:38cbf5fd22e1 90
IceTeam 85:38cbf5fd22e1 91 /** Set baud rate of all attached servos
IceTeam 85:38cbf5fd22e1 92 * @param mode
IceTeam 85:38cbf5fd22e1 93 * 0x01 = 1,000,000 bps
IceTeam 85:38cbf5fd22e1 94 * 0x03 = 500,000 bps
IceTeam 85:38cbf5fd22e1 95 * 0x04 = 400,000 bps
IceTeam 85:38cbf5fd22e1 96 * 0x07 = 250,000 bps
IceTeam 85:38cbf5fd22e1 97 * 0x09 = 200,000 bps
IceTeam 85:38cbf5fd22e1 98 * 0x10 = 115,200 bps
IceTeam 85:38cbf5fd22e1 99 * 0x22 = 57,600 bps
IceTeam 85:38cbf5fd22e1 100 * 0x67 = 19,200 bps
IceTeam 85:38cbf5fd22e1 101 * 0xCF = 9,600 bp
IceTeam 85:38cbf5fd22e1 102 */
IceTeam 85:38cbf5fd22e1 103 int setBaud(int baud);
IceTeam 85:38cbf5fd22e1 104
IceTeam 85:38cbf5fd22e1 105
IceTeam 85:38cbf5fd22e1 106 /** Set goal angle in integer degrees, in positional mode
IceTeam 85:38cbf5fd22e1 107 *
IceTeam 85:38cbf5fd22e1 108 * @param degrees 0-300
IceTeam 85:38cbf5fd22e1 109 * @param flags, defaults to 0
IceTeam 85:38cbf5fd22e1 110 * flags[0] = blocking, return when goal position reached
IceTeam 85:38cbf5fd22e1 111 * flags[1] = register, activate with a broadcast trigger
IceTeam 85:38cbf5fd22e1 112 *
IceTeam 85:38cbf5fd22e1 113 */
IceTeam 85:38cbf5fd22e1 114 int setGoal(int degrees, int flags = 0);
IceTeam 85:38cbf5fd22e1 115
IceTeam 85:38cbf5fd22e1 116 /** Get goal angle (internal, not from the AX12)
IceTeam 85:38cbf5fd22e1 117 *
IceTeam 85:38cbf5fd22e1 118 */
IceTeam 85:38cbf5fd22e1 119
IceTeam 85:38cbf5fd22e1 120 int getGoal(){return _goal;}
IceTeam 85:38cbf5fd22e1 121
IceTeam 85:38cbf5fd22e1 122
IceTeam 85:38cbf5fd22e1 123 /** Set the torque limit of the servo
IceTeam 85:38cbf5fd22e1 124 *
IceTeam 85:38cbf5fd22e1 125 * @param maxTorque, 0-1024
IceTeam 85:38cbf5fd22e1 126 */
IceTeam 85:38cbf5fd22e1 127 int setMaxTorque(int maxTorque);
IceTeam 85:38cbf5fd22e1 128
IceTeam 85:38cbf5fd22e1 129
IceTeam 85:38cbf5fd22e1 130 /** Set the speed of the servo in continuous rotation mode
IceTeam 85:38cbf5fd22e1 131 *
IceTeam 85:38cbf5fd22e1 132 * @param speed, -1.0 to 1.0
IceTeam 85:38cbf5fd22e1 133 * -1.0 = full speed counter clock wise
IceTeam 85:38cbf5fd22e1 134 * 1.0 = full speed clock wise
IceTeam 85:38cbf5fd22e1 135 */
IceTeam 85:38cbf5fd22e1 136 int setCRSpeed(float speed);
IceTeam 85:38cbf5fd22e1 137
IceTeam 85:38cbf5fd22e1 138 /** Set the speed of the servo
IceTeam 85:38cbf5fd22e1 139 *
IceTeam 85:38cbf5fd22e1 140 */
IceTeam 85:38cbf5fd22e1 141 int setSpeed(int speed);
IceTeam 85:38cbf5fd22e1 142
IceTeam 85:38cbf5fd22e1 143
IceTeam 85:38cbf5fd22e1 144 /** Set the clockwise limit of the servo
IceTeam 85:38cbf5fd22e1 145 *
IceTeam 85:38cbf5fd22e1 146 * @param degrees, 0-300
IceTeam 85:38cbf5fd22e1 147 */
IceTeam 85:38cbf5fd22e1 148 int setCWLimit(int degrees);
IceTeam 85:38cbf5fd22e1 149
IceTeam 85:38cbf5fd22e1 150 /** Set the counter-clockwise limit of the servo
IceTeam 85:38cbf5fd22e1 151 *
IceTeam 85:38cbf5fd22e1 152 * @param degrees, 0-300
IceTeam 85:38cbf5fd22e1 153 */
IceTeam 85:38cbf5fd22e1 154 int setCCWLimit(int degrees);
IceTeam 85:38cbf5fd22e1 155
IceTeam 85:38cbf5fd22e1 156 // Change the ID
IceTeam 85:38cbf5fd22e1 157
IceTeam 85:38cbf5fd22e1 158 /** Change the ID of a servo
IceTeam 85:38cbf5fd22e1 159 *
IceTeam 85:38cbf5fd22e1 160 * @param CurentID 1-255
IceTeam 85:38cbf5fd22e1 161 * @param NewID 1-255
IceTeam 85:38cbf5fd22e1 162 *
IceTeam 85:38cbf5fd22e1 163 * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
IceTeam 85:38cbf5fd22e1 164 * In this situation, only one servo should be connected to the bus
IceTeam 85:38cbf5fd22e1 165 */
IceTeam 85:38cbf5fd22e1 166 int setID(int CurrentID, int NewID);
IceTeam 85:38cbf5fd22e1 167
IceTeam 85:38cbf5fd22e1 168
IceTeam 85:38cbf5fd22e1 169 /** Poll to see if the servo is moving
IceTeam 85:38cbf5fd22e1 170 *
IceTeam 85:38cbf5fd22e1 171 * @returns true is the servo is moving
IceTeam 85:38cbf5fd22e1 172 */
IceTeam 85:38cbf5fd22e1 173 int isMoving(void);
IceTeam 85:38cbf5fd22e1 174
IceTeam 85:38cbf5fd22e1 175 /** Send the broadcast "trigger" command, to activate any outstanding registered commands
IceTeam 85:38cbf5fd22e1 176 */
IceTeam 85:38cbf5fd22e1 177 void trigger(void);
IceTeam 85:38cbf5fd22e1 178
IceTeam 85:38cbf5fd22e1 179 /** Read the current angle of the servo
IceTeam 85:38cbf5fd22e1 180 *
IceTeam 85:38cbf5fd22e1 181 * @returns float in the range 0.0-300.0
IceTeam 85:38cbf5fd22e1 182 */
IceTeam 85:38cbf5fd22e1 183 float getPosition();
IceTeam 85:38cbf5fd22e1 184
IceTeam 85:38cbf5fd22e1 185 /** Read the temperature of the servo
IceTeam 85:38cbf5fd22e1 186 *
IceTeam 85:38cbf5fd22e1 187 * @returns float temperature
IceTeam 85:38cbf5fd22e1 188 */
IceTeam 85:38cbf5fd22e1 189 float getTemp(void);
IceTeam 85:38cbf5fd22e1 190
IceTeam 85:38cbf5fd22e1 191 /** Read the supply voltage of the servo
IceTeam 85:38cbf5fd22e1 192 *
IceTeam 85:38cbf5fd22e1 193 * @returns float voltage
IceTeam 85:38cbf5fd22e1 194 */
IceTeam 85:38cbf5fd22e1 195 float getVolts(void);
IceTeam 85:38cbf5fd22e1 196 float getLoad(void);
IceTeam 85:38cbf5fd22e1 197 int read(int ID, int start, int length, char* data);
IceTeam 85:38cbf5fd22e1 198 int write(int ID, int start, int length, char* data, int flag=0);
IceTeam 85:38cbf5fd22e1 199
IceTeam 85:38cbf5fd22e1 200 private :
IceTeam 85:38cbf5fd22e1 201
IceTeam 85:38cbf5fd22e1 202 Serial _ax12;
IceTeam 85:38cbf5fd22e1 203 int _ID;
IceTeam 85:38cbf5fd22e1 204 int _baud;
IceTeam 85:38cbf5fd22e1 205 int _goal;
IceTeam 85:38cbf5fd22e1 206
IceTeam 85:38cbf5fd22e1 207 };
IceTeam 85:38cbf5fd22e1 208
IceTeam 85:38cbf5fd22e1 209 #endif