Ricky Kwon
Fish Feeder
Fork of
AX12
by 
Chris Styles
AX12.h@1:93ad80f5fde7, 2011-03-30 (annotated)
- Committer:
- chris
- Date:
- Wed Mar 30 16:08:02 2011 +0000
- Revision:
- 1:93ad80f5fde7
- Parent:
- 0:be51952765ec
- Child:
- 2:5ea99c37a2d7
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| chris | 0:be51952765ec | 1 | /* mbed AX-12+ Servo Library |
| chris | 0:be51952765ec | 2 | * |
| chris | 0:be51952765ec | 3 | * Copyright (c) 2010, cstyles (http://mbed.org) |
| chris | 0:be51952765ec | 4 | * |
| chris | 0:be51952765ec | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| chris | 0:be51952765ec | 6 | * of this software and associated documentation files (the "Software"), to deal |
| chris | 0:be51952765ec | 7 | * in the Software without restriction, including without limitation the rights |
| chris | 0:be51952765ec | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| chris | 0:be51952765ec | 9 | * copies of the Software, and to permit persons to whom the Software is |
| chris | 0:be51952765ec | 10 | * furnished to do so, subject to the following conditions: |
| chris | 0:be51952765ec | 11 | * |
| chris | 0:be51952765ec | 12 | * The above copyright notice and this permission notice shall be included in |
| chris | 0:be51952765ec | 13 | * all copies or substantial portions of the Software. |
| chris | 0:be51952765ec | 14 | * |
| chris | 0:be51952765ec | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| chris | 0:be51952765ec | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| chris | 0:be51952765ec | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| chris | 0:be51952765ec | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| chris | 0:be51952765ec | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| chris | 0:be51952765ec | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| chris | 0:be51952765ec | 21 | * THE SOFTWARE. |
| chris | 0:be51952765ec | 22 | */ |
| chris | 0:be51952765ec | 23 | |
| chris | 0:be51952765ec | 24 | #ifndef MBED_AX12_H |
| chris | 0:be51952765ec | 25 | #define MBED_AX12_H |
| chris | 0:be51952765ec | 26 | |
| chris | 0:be51952765ec | 27 | #include "mbed.h" |
| chris | 0:be51952765ec | 28 | |
| chris | 0:be51952765ec | 29 | #define AX12_WRITE_DEBUG 0 |
| chris | 0:be51952765ec | 30 | #define AX12_READ_DEBUG 0 |
| chris | 0:be51952765ec | 31 | #define AX12_TRIGGER_DEBUG 0 |
| chris | 0:be51952765ec | 32 | #define AX12_DEBUG 0 |
| chris | 0:be51952765ec | 33 | |
| chris | 0:be51952765ec | 34 | #define AX12_REG_ID 0x3 |
| chris | 0:be51952765ec | 35 | #define AX12_REG_CW_LIMIT 0x06 |
| chris | 0:be51952765ec | 36 | #define AX12_REG_CCW_LIMIT 0x08 |
| chris | 0:be51952765ec | 37 | #define AX12_REG_GOAL_POSITION 0x1E |
| chris | 0:be51952765ec | 38 | #define AX12_REG_MOVING_SPEED 0x20 |
| chris | 0:be51952765ec | 39 | #define AX12_REG_VOLTS 0x2A |
| chris | 0:be51952765ec | 40 | #define AX12_REG_TEMP 0x2B |
| chris | 0:be51952765ec | 41 | #define AX12_REG_MOVING 0x2E |
| chris | 0:be51952765ec | 42 | #define AX12_REG_POSITION 0x24 |
| chris | 0:be51952765ec | 43 | |
| chris | 0:be51952765ec | 44 | #define AX12_MODE_POSITION 0 |
| chris | 0:be51952765ec | 45 | #define AX12_MODE_ROTATION 1 |
| chris | 0:be51952765ec | 46 | |
| chris | 0:be51952765ec | 47 | #define AX12_CW 1 |
| chris | 0:be51952765ec | 48 | #define AX12_CCW 0 |
| chris | 0:be51952765ec | 49 | |
| chris | 1:93ad80f5fde7 | 50 | /** Servo control class, based on a PwmOut |
| chris | 1:93ad80f5fde7 | 51 | * |
| chris | 1:93ad80f5fde7 | 52 | * Example: |
| chris | 1:93ad80f5fde7 | 53 | * @code |
| chris | 1:93ad80f5fde7 | 54 | * #include "mbed.h" |
| chris | 1:93ad80f5fde7 | 55 | * #include "AX12.h" |
| chris | 1:93ad80f5fde7 | 56 | * |
| chris | 1:93ad80f5fde7 | 57 | * int main() { |
| chris | 1:93ad80f5fde7 | 58 | * |
| chris | 1:93ad80f5fde7 | 59 | * AX12 myax12 (p9, p10, 1); |
| chris | 1:93ad80f5fde7 | 60 | * |
| chris | 1:93ad80f5fde7 | 61 | * while (1) { |
| chris | 1:93ad80f5fde7 | 62 | * myax12.SetGoal(0); // go to 0 degrees |
| chris | 1:93ad80f5fde7 | 63 | * wait (2.0); |
| chris | 1:93ad80f5fde7 | 64 | * myax12.SetGoal(300); // go to 300 degrees |
| chris | 1:93ad80f5fde7 | 65 | * wait (2.0); |
| chris | 1:93ad80f5fde7 | 66 | * } |
| chris | 1:93ad80f5fde7 | 67 | * } |
| chris | 1:93ad80f5fde7 | 68 | * @endcode |
| chris | 1:93ad80f5fde7 | 69 | */ |
| chris | 0:be51952765ec | 70 | class AX12 { |
| chris | 0:be51952765ec | 71 | |
| chris | 0:be51952765ec | 72 | public: |
| chris | 0:be51952765ec | 73 | |
| chris | 1:93ad80f5fde7 | 74 | /** Create an AX12 servo object connected to the specified serial port, with the specified ID |
| chris | 1:93ad80f5fde7 | 75 | * |
| chris | 1:93ad80f5fde7 | 76 | * @param pin tx pin |
| chris | 1:93ad80f5fde7 | 77 | * @param pin rx pin |
| chris | 1:93ad80f5fde7 | 78 | * @param int ID, the Bus ID of the servo 1-255 |
| chris | 1:93ad80f5fde7 | 79 | */ |
| chris | 0:be51952765ec | 80 | AX12(PinName tx, PinName rx, int ID); |
| chris | 0:be51952765ec | 81 | |
| chris | 1:93ad80f5fde7 | 82 | /** Set the mode of the servo |
| chris | 1:93ad80f5fde7 | 83 | * @param mode |
| chris | 1:93ad80f5fde7 | 84 | * 0 = Positional, default |
| chris | 1:93ad80f5fde7 | 85 | * 1 = Continuous rotation |
| chris | 1:93ad80f5fde7 | 86 | */ |
| chris | 1:93ad80f5fde7 | 87 | int SetMode(int mode); |
| chris | 0:be51952765ec | 88 | |
| chris | 1:93ad80f5fde7 | 89 | /** Set goal angle in integer degrees, in positional mode |
| chris | 1:93ad80f5fde7 | 90 | * |
| chris | 1:93ad80f5fde7 | 91 | * @param degrees 0-300 |
| chris | 1:93ad80f5fde7 | 92 | * @param flags, defaults to 0 |
| chris | 1:93ad80f5fde7 | 93 | * flags[0] = blocking, return when goal position reached |
| chris | 1:93ad80f5fde7 | 94 | * flags[1] = register, activate with a broadcast trigger |
| chris | 1:93ad80f5fde7 | 95 | * |
| chris | 1:93ad80f5fde7 | 96 | */ |
| chris | 0:be51952765ec | 97 | int SetGoal(int degrees, int flags = 0); |
| chris | 0:be51952765ec | 98 | |
| chris | 0:be51952765ec | 99 | |
| chris | 1:93ad80f5fde7 | 100 | /** Set the speed of the servo in continuous rotation mode |
| chris | 1:93ad80f5fde7 | 101 | * |
| chris | 1:93ad80f5fde7 | 102 | * @param speed, -1.0 to 1.0 |
| chris | 1:93ad80f5fde7 | 103 | * -1.0 = full speed counter clock wise |
| chris | 1:93ad80f5fde7 | 104 | * 1.0 = full speed clock wise |
| chris | 1:93ad80f5fde7 | 105 | */ |
| chris | 0:be51952765ec | 106 | int SetCRSpeed(float speed); |
| chris | 0:be51952765ec | 107 | |
| chris | 1:93ad80f5fde7 | 108 | |
| chris | 1:93ad80f5fde7 | 109 | /** Set the clockwise limit of the servo |
| chris | 1:93ad80f5fde7 | 110 | * |
| chris | 1:93ad80f5fde7 | 111 | * @param degrees, 0-300 |
| chris | 1:93ad80f5fde7 | 112 | */ |
| chris | 0:be51952765ec | 113 | int SetCWLimit(int degrees); |
| chris | 1:93ad80f5fde7 | 114 | |
| chris | 1:93ad80f5fde7 | 115 | /** Set the counter-clockwise limit of the servo |
| chris | 1:93ad80f5fde7 | 116 | * |
| chris | 1:93ad80f5fde7 | 117 | * @param degrees, 0-300 |
| chris | 1:93ad80f5fde7 | 118 | */ |
| chris | 0:be51952765ec | 119 | int SetCCWLimit(int degrees); |
| chris | 0:be51952765ec | 120 | |
| chris | 0:be51952765ec | 121 | // Change the ID |
| chris | 1:93ad80f5fde7 | 122 | |
| chris | 1:93ad80f5fde7 | 123 | /** Change the ID of a servo |
| chris | 1:93ad80f5fde7 | 124 | * |
| chris | 1:93ad80f5fde7 | 125 | * @param CurentID 1-255 |
| chris | 1:93ad80f5fde7 | 126 | * @param NewID 1-255 |
| chris | 1:93ad80f5fde7 | 127 | * |
| chris | 1:93ad80f5fde7 | 128 | * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID. |
| chris | 1:93ad80f5fde7 | 129 | * In this situation, only one servo should be connected to the bus |
| chris | 1:93ad80f5fde7 | 130 | */ |
| chris | 0:be51952765ec | 131 | int SetID(int CurrentID, int NewID); |
| chris | 0:be51952765ec | 132 | |
| chris | 1:93ad80f5fde7 | 133 | |
| chris | 1:93ad80f5fde7 | 134 | /** Poll to see if the servo is moving |
| chris | 1:93ad80f5fde7 | 135 | * |
| chris | 1:93ad80f5fde7 | 136 | * @returns true is the servo is moving |
| chris | 1:93ad80f5fde7 | 137 | */ |
| chris | 0:be51952765ec | 138 | int isMoving(void); |
| chris | 0:be51952765ec | 139 | |
| chris | 1:93ad80f5fde7 | 140 | /** Send the broadcast "trigger" command, to activate any outstanding registered commands |
| chris | 1:93ad80f5fde7 | 141 | */ |
| chris | 0:be51952765ec | 142 | void trigger(void); |
| chris | 0:be51952765ec | 143 | |
| chris | 1:93ad80f5fde7 | 144 | /** Read the current angle of the servo |
| chris | 1:93ad80f5fde7 | 145 | * |
| chris | 1:93ad80f5fde7 | 146 | * @returns float in the range 0.0-300.0 |
| chris | 1:93ad80f5fde7 | 147 | */ |
| chris | 0:be51952765ec | 148 | float GetPosition(); |
| chris | 0:be51952765ec | 149 | |
| chris | 1:93ad80f5fde7 | 150 | /** Read the temperature of the servo |
| chris | 1:93ad80f5fde7 | 151 | * |
| chris | 1:93ad80f5fde7 | 152 | * @returns float temperature |
| chris | 1:93ad80f5fde7 | 153 | */ |
| chris | 0:be51952765ec | 154 | float GetTemp(void); |
| chris | 1:93ad80f5fde7 | 155 | |
| chris | 1:93ad80f5fde7 | 156 | /** Read the supply voltage of the servo |
| chris | 1:93ad80f5fde7 | 157 | * |
| chris | 1:93ad80f5fde7 | 158 | * @returns float voltage |
| chris | 1:93ad80f5fde7 | 159 | */ |
| chris | 0:be51952765ec | 160 | float GetVolts(void); |
| chris | 0:be51952765ec | 161 | |
| chris | 0:be51952765ec | 162 | private : |
| chris | 0:be51952765ec | 163 | |
| chris | 0:be51952765ec | 164 | SerialHalfDuplex _ax12; |
| chris | 0:be51952765ec | 165 | int _ID; |
| chris | 0:be51952765ec | 166 | |
| chris | 1:93ad80f5fde7 | 167 | int read(int ID, int start, int length, char* data); |
| chris | 1:93ad80f5fde7 | 168 | int write(int ID, int start, int length, char* data, int flag=0); |
| chris | 1:93ad80f5fde7 | 169 | |
| chris | 0:be51952765ec | 170 | }; |
| chris | 0:be51952765ec | 171 | |
| chris | 0:be51952765ec | 172 | #endif |