Diff: SCX18S.h

Revision:

0:bf06c3ca958b

diff -r 000000000000 -r bf06c3ca958b SCX18S.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SCX18S.h	Wed Apr 27 14:16:45 2016 +0000
@@ -0,0 +1,35 @@
+#include "mbed.h"
+
+#define SCX18_I2C_BASE_ADDR 0x74 // DS-SCX18.S I2C base address
+#define SCX18_SERVO_ENABLED (1 << 7)
+#define SCX18_SERVO_REVERSED (1 << 6)
+#define SCX18_SERVO_SOFT_START (1 << 5)
+#define SCX18_SERVO_SPEED_CONTROL (1 << 4)
+#define SCX18_SERVO_MOVEMENT (1 << 4)
+
+union SCX18SServoStatusRegister {
+    uint8_t value;
+    struct {
+        bool enabled;
+        bool reversed;
+        bool softstart;
+        bool movement;
+        uint8_t unpopulated : 4;
+    } bits;
+};
+
+class SCX18S
+{
+    I2C i2c;
+    uint8_t i2c_address;
+    void writeRegister(uint8_t reg, uint8_t value);
+    uint8_t readRegister(uint8_t reg);
+
+public:
+    SCX18S(PinName p_sda, PinName p_scl, bool j_a0 = true, bool j_a1 = true);
+
+    SCX18SServoStatusRegister readStatus(uint8_t channel);
+    void writePosition(uint8_t channel, uint8_t position);
+    void writeControl(uint8_t channel, bool enabled, bool reversed, bool softstart, bool speedcontrol, uint8_t speed);
+    void writeEnable();
+};
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