Diff: AX12/AX12.h

Revision:

80:cd4960dfa47e

Parent:

79:b11b50108ae5

Child:

81:e7b03e81b025

--- a/AX12/AX12.h	Thu May 05 15:11:06 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,204 +0,0 @@
-/* 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 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