Yusuke Okino / Mbed 2 deprecated dynamixel_servo_controller

Dynamixel servo controller. This program consists of 2 parts: "dynamixel_servo_controller.cpp/.h" and "main.cpp"( demo program ).

Dependencies:   mbed

Fork of dynamixel_servo_controller by Yusuke Okino

main.cpp@0:c9df5db1b525, 2018-06-09 (annotated)

Committer:
PicYusuke
Date:
Sat Jun 09 12:09:04 2018 +0000
Revision:
0:c9df5db1b525
Child:
1:2c82c636c43e
Firstly made sample program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PicYusuke 0:c9df5db1b525 1 /**
PicYusuke 0:c9df5db1b525 2 * @brief Dynamixelサーボコントローラ
PicYusuke 0:c9df5db1b525 3 *
PicYusuke 0:c9df5db1b525 4 * @file main.cpp
PicYusuke 0:c9df5db1b525 5 * @author Yusuke Okino
PicYusuke 0:c9df5db1b525 6 * @date 2018-06-09
PicYusuke 0:c9df5db1b525 7 */
PicYusuke 0:c9df5db1b525 8
PicYusuke 0:c9df5db1b525 9 #include <iostream>
PicYusuke 0:c9df5db1b525 10 #include <cstdint>
PicYusuke 0:c9df5db1b525 11
PicYusuke 0:c9df5db1b525 12 // Checksum polynomial
PicYusuke 0:c9df5db1b525 13 #define CRC16POLY 0x8005
PicYusuke 0:c9df5db1b525 14
PicYusuke 0:c9df5db1b525 15 /***************** instruction *******************/
PicYusuke 0:c9df5db1b525 16 #define WRITE 0x03
PicYusuke 0:c9df5db1b525 17 /*************************************************/
PicYusuke 0:c9df5db1b525 18
PicYusuke 0:c9df5db1b525 19 /**************** Control table ******************/
PicYusuke 0:c9df5db1b525 20 #define TORQUE_ENABLE 64
PicYusuke 0:c9df5db1b525 21 #define GOAL_POSITION 116
PicYusuke 0:c9df5db1b525 22 /*************************************************/
PicYusuke 0:c9df5db1b525 23
PicYusuke 0:c9df5db1b525 24 /**
PicYusuke 0:c9df5db1b525 25 * @brief Dynamixel XM430サーボ制御用クラス
PicYusuke 0:c9df5db1b525 26 *
PicYusuke 0:c9df5db1b525 27 */
PicYusuke 0:c9df5db1b525 28 class XM430
PicYusuke 0:c9df5db1b525 29 {
PicYusuke 0:c9df5db1b525 30 private:
PicYusuke 0:c9df5db1b525 31
PicYusuke 0:c9df5db1b525 32 uint8_t tx_buf[128];
PicYusuke 0:c9df5db1b525 33
PicYusuke 0:c9df5db1b525 34 /**
PicYusuke 0:c9df5db1b525 35 * @brief CRC16 IBM polynomial 0x8005
PicYusuke 0:c9df5db1b525 36 *
PicYusuke 0:c9df5db1b525 37 * @param crc_accum
PicYusuke 0:c9df5db1b525 38 * @param data_blk_ptr
PicYusuke 0:c9df5db1b525 39 * @param data_blk_size
PicYusuke 0:c9df5db1b525 40 * @return uint16_t
PicYusuke 0:c9df5db1b525 41 */
PicYusuke 0:c9df5db1b525 42 uint16_t CRC16(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size)
PicYusuke 0:c9df5db1b525 43 {
PicYusuke 0:c9df5db1b525 44 uint16_t i, j;
PicYusuke 0:c9df5db1b525 45 uint16_t crc_table[256] = {
PicYusuke 0:c9df5db1b525 46 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
PicYusuke 0:c9df5db1b525 47 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
PicYusuke 0:c9df5db1b525 48 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
PicYusuke 0:c9df5db1b525 49 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
PicYusuke 0:c9df5db1b525 50 0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
PicYusuke 0:c9df5db1b525 51 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
PicYusuke 0:c9df5db1b525 52 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
PicYusuke 0:c9df5db1b525 53 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
PicYusuke 0:c9df5db1b525 54 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
PicYusuke 0:c9df5db1b525 55 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
PicYusuke 0:c9df5db1b525 56 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
PicYusuke 0:c9df5db1b525 57 0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
PicYusuke 0:c9df5db1b525 58 0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
PicYusuke 0:c9df5db1b525 59 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
PicYusuke 0:c9df5db1b525 60 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
PicYusuke 0:c9df5db1b525 61 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
PicYusuke 0:c9df5db1b525 62 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
PicYusuke 0:c9df5db1b525 63 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
PicYusuke 0:c9df5db1b525 64 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
PicYusuke 0:c9df5db1b525 65 0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
PicYusuke 0:c9df5db1b525 66 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
PicYusuke 0:c9df5db1b525 67 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
PicYusuke 0:c9df5db1b525 68 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
PicYusuke 0:c9df5db1b525 69 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
PicYusuke 0:c9df5db1b525 70 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
PicYusuke 0:c9df5db1b525 71 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
PicYusuke 0:c9df5db1b525 72 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
PicYusuke 0:c9df5db1b525 73 0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
PicYusuke 0:c9df5db1b525 74 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
PicYusuke 0:c9df5db1b525 75 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
PicYusuke 0:c9df5db1b525 76 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
PicYusuke 0:c9df5db1b525 77 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
PicYusuke 0:c9df5db1b525 78 };
PicYusuke 0:c9df5db1b525 79
PicYusuke 0:c9df5db1b525 80 for(j = 0; j < data_blk_size; j++)
PicYusuke 0:c9df5db1b525 81 {
PicYusuke 0:c9df5db1b525 82 i = ((uint16_t)(crc_accum >> 8) ^ data_blk_ptr[j]) & 0xFF;
PicYusuke 0:c9df5db1b525 83 crc_accum = (crc_accum << 8) ^ crc_table[i];
PicYusuke 0:c9df5db1b525 84 }
PicYusuke 0:c9df5db1b525 85
PicYusuke 0:c9df5db1b525 86 return crc_accum;
PicYusuke 0:c9df5db1b525 87 }
PicYusuke 0:c9df5db1b525 88
PicYusuke 0:c9df5db1b525 89 /**
PicYusuke 0:c9df5db1b525 90 * @brief シリアルバルク通信
PicYusuke 0:c9df5db1b525 91 *
PicYusuke 0:c9df5db1b525 92 * @param buf 送信バッファ
PicYusuke 0:c9df5db1b525 93 * @param buf_length バッファ長
PicYusuke 0:c9df5db1b525 94 * @return true 正常に通信が終了
PicYusuke 0:c9df5db1b525 95 * @return false 通信が不正に終了
PicYusuke 0:c9df5db1b525 96 */
PicYusuke 0:c9df5db1b525 97 bool Send_Bulk_Char(uint8_t *buf, uint16_t buf_length)
PicYusuke 0:c9df5db1b525 98 {
PicYusuke 0:c9df5db1b525 99 #if 0
PicYusuke 0:c9df5db1b525 100 // ユーザ関数
PicYusuke 0:c9df5db1b525 101 #else
PicYusuke 0:c9df5db1b525 102 for(uint32_t i = 0; i < buf_length; i ++)
PicYusuke 0:c9df5db1b525 103 {
PicYusuke 0:c9df5db1b525 104 //std::cout << tx_buf[i] << std::endl;
PicYusuke 0:c9df5db1b525 105 std::cout << std::hex << std::showbase << std::uppercase << (uint32_t)tx_buf[i] << std::endl;
PicYusuke 0:c9df5db1b525 106 }
PicYusuke 0:c9df5db1b525 107
PicYusuke 0:c9df5db1b525 108 return true;
PicYusuke 0:c9df5db1b525 109 #endif
PicYusuke 0:c9df5db1b525 110
PicYusuke 0:c9df5db1b525 111 return false;
PicYusuke 0:c9df5db1b525 112 }
PicYusuke 0:c9df5db1b525 113
PicYusuke 0:c9df5db1b525 114
PicYusuke 0:c9df5db1b525 115 public:
PicYusuke 0:c9df5db1b525 116 /**
PicYusuke 0:c9df5db1b525 117 * @brief Construct a new XM430 object
PicYusuke 0:c9df5db1b525 118 *
PicYusuke 0:c9df5db1b525 119 */
PicYusuke 0:c9df5db1b525 120 XM430()
PicYusuke 0:c9df5db1b525 121 {
PicYusuke 0:c9df5db1b525 122 // Header
PicYusuke 0:c9df5db1b525 123 tx_buf[0] = 0xFF;
PicYusuke 0:c9df5db1b525 124 tx_buf[1] = 0xFF;
PicYusuke 0:c9df5db1b525 125 tx_buf[2] = 0xFD;
PicYusuke 0:c9df5db1b525 126
PicYusuke 0:c9df5db1b525 127 // Reserved
PicYusuke 0:c9df5db1b525 128 tx_buf[3] = 0x00;
PicYusuke 0:c9df5db1b525 129 }
PicYusuke 0:c9df5db1b525 130
PicYusuke 0:c9df5db1b525 131 /**
PicYusuke 0:c9df5db1b525 132 * @brief サーボのトルクをONにする
PicYusuke 0:c9df5db1b525 133 *
PicYusuke 0:c9df5db1b525 134 * @param id サーボID
PicYusuke 0:c9df5db1b525 135 * @return true 通信が正常に終了
PicYusuke 0:c9df5db1b525 136 * @return false 通信が不正に終了
PicYusuke 0:c9df5db1b525 137 */
PicYusuke 0:c9df5db1b525 138 bool Torque_ON(const uint8_t id)
PicYusuke 0:c9df5db1b525 139 {
PicYusuke 0:c9df5db1b525 140 uint16_t checksum;
PicYusuke 0:c9df5db1b525 141 uint16_t length = 6;
PicYusuke 0:c9df5db1b525 142 uint8_t data = 1; // Enable torque
PicYusuke 0:c9df5db1b525 143
PicYusuke 0:c9df5db1b525 144 bool ret_val;
PicYusuke 0:c9df5db1b525 145
PicYusuke 0:c9df5db1b525 146 tx_buf[4] = id;
PicYusuke 0:c9df5db1b525 147
PicYusuke 0:c9df5db1b525 148 // Length
PicYusuke 0:c9df5db1b525 149 tx_buf[5] = (uint8_t)(length & 0xFF);
PicYusuke 0:c9df5db1b525 150 tx_buf[6] = (uint8_t)(length >> 8);
PicYusuke 0:c9df5db1b525 151
PicYusuke 0:c9df5db1b525 152 // Instruction
PicYusuke 0:c9df5db1b525 153 tx_buf[7] = WRITE;
PicYusuke 0:c9df5db1b525 154
PicYusuke 0:c9df5db1b525 155 // control register
PicYusuke 0:c9df5db1b525 156 tx_buf[8] = (uint8_t)(TORQUE_ENABLE & 0xFF);
PicYusuke 0:c9df5db1b525 157 tx_buf[9] = (uint8_t)(TORQUE_ENABLE >> 8);
PicYusuke 0:c9df5db1b525 158
PicYusuke 0:c9df5db1b525 159 // Data
PicYusuke 0:c9df5db1b525 160 tx_buf[10] = (uint8_t)(data & 0xFF);
PicYusuke 0:c9df5db1b525 161
PicYusuke 0:c9df5db1b525 162 // Checksum
PicYusuke 0:c9df5db1b525 163 checksum = CRC16(0, tx_buf, ( 13-2 ));
PicYusuke 0:c9df5db1b525 164 tx_buf[11] = (uint8_t)(checksum & 0xFF);
PicYusuke 0:c9df5db1b525 165 tx_buf[12] = (uint8_t)(checksum >> 8);
PicYusuke 0:c9df5db1b525 166
PicYusuke 0:c9df5db1b525 167
PicYusuke 0:c9df5db1b525 168 ret_val = Send_Bulk_Char(tx_buf, 13);
PicYusuke 0:c9df5db1b525 169 return ret_val;
PicYusuke 0:c9df5db1b525 170 }
PicYusuke 0:c9df5db1b525 171
PicYusuke 0:c9df5db1b525 172 /**
PicYusuke 0:c9df5db1b525 173 * @brief サーボホーン位置を設定
PicYusuke 0:c9df5db1b525 174 *
PicYusuke 0:c9df5db1b525 175 * @param id サーボID
PicYusuke 0:c9df5db1b525 176 * @param pos 目標回転位置
PicYusuke 0:c9df5db1b525 177 * @return true 通信が正常に終了
PicYusuke 0:c9df5db1b525 178 * @return false 通信が不正に終了
PicYusuke 0:c9df5db1b525 179 */
PicYusuke 0:c9df5db1b525 180 bool Set_Pos(const uint8_t id, uint32_t pos)
PicYusuke 0:c9df5db1b525 181 {
PicYusuke 0:c9df5db1b525 182 uint16_t checksum;
PicYusuke 0:c9df5db1b525 183 uint16_t length = 9;
PicYusuke 0:c9df5db1b525 184 uint32_t data = pos; // Position ( 32 bit val )
PicYusuke 0:c9df5db1b525 185
PicYusuke 0:c9df5db1b525 186 bool ret_val;
PicYusuke 0:c9df5db1b525 187
PicYusuke 0:c9df5db1b525 188 tx_buf[4] = id;
PicYusuke 0:c9df5db1b525 189
PicYusuke 0:c9df5db1b525 190 // Length
PicYusuke 0:c9df5db1b525 191 tx_buf[5] = (uint8_t)(length & 0xFF);
PicYusuke 0:c9df5db1b525 192 tx_buf[6] = (uint8_t)(length >> 8);
PicYusuke 0:c9df5db1b525 193
PicYusuke 0:c9df5db1b525 194 // Instruction
PicYusuke 0:c9df5db1b525 195 tx_buf[7] = WRITE;
PicYusuke 0:c9df5db1b525 196
PicYusuke 0:c9df5db1b525 197 // control register
PicYusuke 0:c9df5db1b525 198 tx_buf[8] = (uint8_t)(GOAL_POSITION & 0xFF);
PicYusuke 0:c9df5db1b525 199 tx_buf[9] = (uint8_t)(GOAL_POSITION >> 8);
PicYusuke 0:c9df5db1b525 200
PicYusuke 0:c9df5db1b525 201 // Data
PicYusuke 0:c9df5db1b525 202 tx_buf[10] = (uint8_t)(data & 0xFF);
PicYusuke 0:c9df5db1b525 203 tx_buf[11] = (uint8_t)((data >> 8) & 0xFF);
PicYusuke 0:c9df5db1b525 204 tx_buf[12] = (uint8_t)((data >> 16) & 0xFF);
PicYusuke 0:c9df5db1b525 205 tx_buf[13] = (uint8_t)((data >> 24) & 0xFF);
PicYusuke 0:c9df5db1b525 206
PicYusuke 0:c9df5db1b525 207 // Checksum
PicYusuke 0:c9df5db1b525 208 checksum = CRC16(0, tx_buf, ( 16-2 ));
PicYusuke 0:c9df5db1b525 209 tx_buf[14] = (uint8_t)(checksum & 0xFF);
PicYusuke 0:c9df5db1b525 210 tx_buf[15] = (uint8_t)(checksum >> 8);
PicYusuke 0:c9df5db1b525 211
PicYusuke 0:c9df5db1b525 212
PicYusuke 0:c9df5db1b525 213 ret_val = Send_Bulk_Char(tx_buf, 16);
PicYusuke 0:c9df5db1b525 214 return ret_val;
PicYusuke 0:c9df5db1b525 215 }
PicYusuke 0:c9df5db1b525 216 };
PicYusuke 0:c9df5db1b525 217
PicYusuke 0:c9df5db1b525 218 int main()
PicYusuke 0:c9df5db1b525 219 {
PicYusuke 0:c9df5db1b525 220 const uint8_t servo_id = 0x01;
PicYusuke 0:c9df5db1b525 221
PicYusuke 0:c9df5db1b525 222 XM430 xm430;
PicYusuke 0:c9df5db1b525 223
PicYusuke 0:c9df5db1b525 224 //xm430.Torque_ON(servo_id);
PicYusuke 0:c9df5db1b525 225 xm430.Set_Pos(servo_id, 999);
PicYusuke 0:c9df5db1b525 226
PicYusuke 0:c9df5db1b525 227 return 0;
PicYusuke 0:c9df5db1b525 228 }