Diff: AX12/AX12.h

Revision:

85:38cbf5fd22e1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12/AX12.h	Fri May 06 09:49:01 2016 +0200
@@ -0,0 +1,209 @@
+/* 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.
+ */
+
+#ifndef MBED_AX12_H
+#define MBED_AX12_H
+
+#include "mbed.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_BAUD 0x4
+#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_REG_LOAD 0x28
+
+#define AX12_MODE_POSITION  0
+#define AX12_MODE_ROTATION  1
+
+#define AX12_CW 1
+#define AX12_CCW 0
+
+/** Servo control class, based on a PwmOut
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "AX12.h"
+ * 
+ * int main() {
+ * 
+ *   AX12 myax12 (p9, p10, 1);
+ *
+ *   while (1) {
+ *       myax12.SetGoal(0);    // go to 0 degrees
+ *       wait (2.0);
+ *       myax12.SetGoal(300);  // go to 300 degrees
+ *       wait (2.0);
+ *   }
+ * }
+ * @endcode
+ */
+class AX12 {
+
+public:
+
+    /** Create an AX12 servo object connected to the specified serial port, with the specified ID
+     *
+     * @param pin tx pin
+     * @param pin rx pin 
+     * @param int ID, the Bus ID of the servo 1-255 
+     */
+    AX12(PinName tx, PinName rx, int ID, int baud=1000000);
+
+    /** Set the mode of the servo
+     * @param mode
+     *    0 = Positional, default
+     *    1 = Continuous rotation
+     */
+    int setMode(int mode);
+
+    /** Set baud rate of all attached servos
+     * @param mode
+     *    0x01 = 1,000,000 bps
+     *    0x03 =   500,000 bps
+     *    0x04 =   400,000 bps
+     *    0x07 =   250,000 bps
+     *    0x09 =   200,000 bps
+     *    0x10 =   115,200 bps
+     *    0x22 =    57,600 bps
+     *    0x67 =    19,200 bps
+     *    0xCF =     9,600 bp
+     */
+    int setBaud(int baud);
+
+
+    /** Set goal angle in integer degrees, in positional mode
+     *
+     * @param degrees 0-300
+     * @param flags, defaults to 0
+     *    flags[0] = blocking, return when goal position reached 
+     *    flags[1] = register, activate with a broadcast trigger
+     *
+     */
+    int setGoal(int degrees, int flags = 0);
+    
+    /** Get goal angle (internal, not from the AX12)
+     *
+     */
+     
+     int getGoal(){return _goal;}
+    
+    
+    /** Set the torque limit of the servo
+     *
+     * @param maxTorque, 0-1024
+     */
+    int setMaxTorque(int maxTorque);
+
+
+    /** Set the speed of the servo in continuous rotation mode
+     *
+     * @param speed, -1.0 to 1.0
+     *   -1.0 = full speed counter clock wise
+     *    1.0 = full speed clock wise
+     */
+    int setCRSpeed(float speed);
+    
+    /** Set the speed of the servo
+     *
+     */
+    int setSpeed(int speed);
+
+
+    /** Set the clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
+    int setCWLimit(int degrees);
+    
+    /** Set the counter-clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
+    int setCCWLimit(int degrees);
+
+    // Change the ID
+
+    /** Change the ID of a servo
+     *
+     * @param CurentID 1-255
+     * @param NewID 1-255
+     *
+     * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
+     * In this situation, only one servo should be connected to the bus
+     */
+    int setID(int CurrentID, int NewID);
+
+
+    /** Poll to see if the servo is moving
+     *
+     * @returns true is the servo is moving
+     */
+    int isMoving(void);
+
+    /** Send the broadcast "trigger" command, to activate any outstanding registered commands
+     */
+    void trigger(void);
+
+    /** Read the current angle of the servo
+     *
+     * @returns float in the range 0.0-300.0
+     */
+    float getPosition();
+
+    /** Read the temperature of the servo
+     *
+     * @returns float temperature 
+     */
+    float getTemp(void);
+
+    /** Read the supply voltage of the servo
+     *
+     * @returns float voltage
+     */
+    float getVolts(void);
+    float getLoad(void);
+    int read(int ID, int start, int length, char* data);
+    int write(int ID, int start, int length, char* data, int flag=0);
+
+private :
+
+    Serial _ax12;
+    int _ID;
+    int _baud;
+    int _goal;
+
+};
+
+#endif