4 dof robotic arm use of AX12 code
Dependents: 4dofRoboticArmAX12
Fork of AX12 by
AX12.h@1:cb08e032ef91, 2014-04-01 (annotated)
- Committer:
- aimen
- Date:
- Tue Apr 01 06:22:23 2014 +0000
- Revision:
- 1:cb08e032ef91
- Parent:
- 0:db8f063d50f0
no change to lib. It is making me do this to publish
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akichika | 0:db8f063d50f0 | 1 | /* mbed AX-12+ Servo Library |
akichika | 0:db8f063d50f0 | 2 | * |
akichika | 0:db8f063d50f0 | 3 | * Copyright (c) 2010, cstyles (http://mbed.org) |
akichika | 0:db8f063d50f0 | 4 | * |
akichika | 0:db8f063d50f0 | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
akichika | 0:db8f063d50f0 | 6 | * of this software and associated documentation files (the "Software"), to deal |
akichika | 0:db8f063d50f0 | 7 | * in the Software without restriction, including without limitation the rights |
akichika | 0:db8f063d50f0 | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
akichika | 0:db8f063d50f0 | 9 | * copies of the Software, and to permit persons to whom the Software is |
akichika | 0:db8f063d50f0 | 10 | * furnished to do so, subject to the following conditions: |
akichika | 0:db8f063d50f0 | 11 | * |
akichika | 0:db8f063d50f0 | 12 | * The above copyright notice and this permission notice shall be included in |
akichika | 0:db8f063d50f0 | 13 | * all copies or substantial portions of the Software. |
akichika | 0:db8f063d50f0 | 14 | * |
akichika | 0:db8f063d50f0 | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
akichika | 0:db8f063d50f0 | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
akichika | 0:db8f063d50f0 | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
akichika | 0:db8f063d50f0 | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
akichika | 0:db8f063d50f0 | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
akichika | 0:db8f063d50f0 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
akichika | 0:db8f063d50f0 | 21 | * THE SOFTWARE. |
akichika | 0:db8f063d50f0 | 22 | */ |
akichika | 0:db8f063d50f0 | 23 | #ifndef MBED_AX12_H |
akichika | 0:db8f063d50f0 | 24 | #define MBED_AX12_H |
akichika | 0:db8f063d50f0 | 25 | |
akichika | 0:db8f063d50f0 | 26 | #include "mbed.h" |
aimen | 1:cb08e032ef91 | 27 | #include "SerialHalfDuplex.h" |
akichika | 0:db8f063d50f0 | 28 | |
aimen | 1:cb08e032ef91 | 29 | #define AX12_WRITE_DEBUG 0 |
aimen | 1:cb08e032ef91 | 30 | #define AX12_READ_DEBUG 0 |
aimen | 1:cb08e032ef91 | 31 | #define AX12_TRIGGER_DEBUG 0 |
aimen | 1:cb08e032ef91 | 32 | #define AX12_DEBUG 0 |
akichika | 0:db8f063d50f0 | 33 | |
akichika | 0:db8f063d50f0 | 34 | #define AX12_REG_ID 0x3 |
akichika | 0:db8f063d50f0 | 35 | #define AX12_REG_BAUD 0x4 |
akichika | 0:db8f063d50f0 | 36 | #define AX12_REG_CW_LIMIT 0x06 |
akichika | 0:db8f063d50f0 | 37 | #define AX12_REG_CCW_LIMIT 0x08 |
akichika | 0:db8f063d50f0 | 38 | #define AX12_REG_GOAL_POSITION 0x1E |
akichika | 0:db8f063d50f0 | 39 | #define AX12_REG_TORQUE_ENABLE 0x18 |
akichika | 0:db8f063d50f0 | 40 | #define AX12_REG_MOVING_SPEED 0x20 |
akichika | 0:db8f063d50f0 | 41 | #define AX12_REG_VOLTS 0x2A |
akichika | 0:db8f063d50f0 | 42 | #define AX12_REG_TEMP 0x2B |
akichika | 0:db8f063d50f0 | 43 | #define AX12_REG_MOVING 0x2E |
akichika | 0:db8f063d50f0 | 44 | #define AX12_REG_POSITION 0x24 |
akichika | 0:db8f063d50f0 | 45 | |
akichika | 0:db8f063d50f0 | 46 | #define AX12_MODE_POSITION 0 |
akichika | 0:db8f063d50f0 | 47 | #define AX12_MODE_ROTATION 1 |
akichika | 0:db8f063d50f0 | 48 | |
akichika | 0:db8f063d50f0 | 49 | #define AX12_CW 1 |
akichika | 0:db8f063d50f0 | 50 | #define AX12_CCW 0 |
akichika | 0:db8f063d50f0 | 51 | |
akichika | 0:db8f063d50f0 | 52 | /** Servo control class, based on a PwmOut |
akichika | 0:db8f063d50f0 | 53 | * |
akichika | 0:db8f063d50f0 | 54 | * Example: |
akichika | 0:db8f063d50f0 | 55 | * @code |
akichika | 0:db8f063d50f0 | 56 | * #include "mbed.h" |
akichika | 0:db8f063d50f0 | 57 | * #include "AX12.h" |
akichika | 0:db8f063d50f0 | 58 | * |
akichika | 0:db8f063d50f0 | 59 | * int main() { |
akichika | 0:db8f063d50f0 | 60 | * |
akichika | 0:db8f063d50f0 | 61 | * AX12 myax12 (p9, p10, 1); |
akichika | 0:db8f063d50f0 | 62 | * |
akichika | 0:db8f063d50f0 | 63 | * while (1) { |
akichika | 0:db8f063d50f0 | 64 | * myax12.SetGoal(0); // go to 0 degrees |
akichika | 0:db8f063d50f0 | 65 | * wait (2.0); |
akichika | 0:db8f063d50f0 | 66 | * myax12.SetGoal(300); // go to 300 degrees |
akichika | 0:db8f063d50f0 | 67 | * wait (2.0); |
akichika | 0:db8f063d50f0 | 68 | * } |
akichika | 0:db8f063d50f0 | 69 | * } |
akichika | 0:db8f063d50f0 | 70 | * @endcode |
akichika | 0:db8f063d50f0 | 71 | */ |
akichika | 0:db8f063d50f0 | 72 | class AX12 { |
akichika | 0:db8f063d50f0 | 73 | |
akichika | 0:db8f063d50f0 | 74 | public: |
akichika | 0:db8f063d50f0 | 75 | |
akichika | 0:db8f063d50f0 | 76 | /** Create an AX12 servo object connected to the specified serial port, with the specified ID |
akichika | 0:db8f063d50f0 | 77 | * |
akichika | 0:db8f063d50f0 | 78 | * @param pin tx pin |
akichika | 0:db8f063d50f0 | 79 | * @param pin rx pin |
akichika | 0:db8f063d50f0 | 80 | * @param int ID, the Bus ID of the servo 1-255 |
akichika | 0:db8f063d50f0 | 81 | */ |
akichika | 0:db8f063d50f0 | 82 | AX12(PinName tx, PinName rx, int ID, int baud=1000000); |
akichika | 0:db8f063d50f0 | 83 | |
akichika | 0:db8f063d50f0 | 84 | /** Set the mode of the servo |
akichika | 0:db8f063d50f0 | 85 | * @param mode |
akichika | 0:db8f063d50f0 | 86 | * 0 = Positional, default |
akichika | 0:db8f063d50f0 | 87 | * 1 = Continuous rotation |
akichika | 0:db8f063d50f0 | 88 | */ |
akichika | 0:db8f063d50f0 | 89 | int SetMode(int mode); |
akichika | 0:db8f063d50f0 | 90 | |
akichika | 0:db8f063d50f0 | 91 | /** Set baud rate of all attached servos |
akichika | 0:db8f063d50f0 | 92 | * @param mode |
akichika | 0:db8f063d50f0 | 93 | * 0x01 = 1,000,000 bps |
akichika | 0:db8f063d50f0 | 94 | * 0x03 = 500,000 bps |
akichika | 0:db8f063d50f0 | 95 | * 0x04 = 400,000 bps |
akichika | 0:db8f063d50f0 | 96 | * 0x07 = 250,000 bps |
akichika | 0:db8f063d50f0 | 97 | * 0x09 = 200,000 bps |
akichika | 0:db8f063d50f0 | 98 | * 0x10 = 115,200 bps |
akichika | 0:db8f063d50f0 | 99 | * 0x22 = 57,600 bps |
akichika | 0:db8f063d50f0 | 100 | * 0x67 = 19,200 bps |
akichika | 0:db8f063d50f0 | 101 | * 0xCF = 9,600 bp |
akichika | 0:db8f063d50f0 | 102 | */ |
akichika | 0:db8f063d50f0 | 103 | int SetBaud(int baud); |
akichika | 0:db8f063d50f0 | 104 | |
akichika | 0:db8f063d50f0 | 105 | |
akichika | 0:db8f063d50f0 | 106 | /** Set goal angle in integer degrees, in positional mode |
akichika | 0:db8f063d50f0 | 107 | * |
akichika | 0:db8f063d50f0 | 108 | * @param degrees 0-300 |
akichika | 0:db8f063d50f0 | 109 | * @param flags, defaults to 0 |
akichika | 0:db8f063d50f0 | 110 | * flags[0] = blocking, return when goal position reached |
akichika | 0:db8f063d50f0 | 111 | * flags[1] = register, activate with a broadcast trigger |
akichika | 0:db8f063d50f0 | 112 | * |
akichika | 0:db8f063d50f0 | 113 | */ |
akichika | 0:db8f063d50f0 | 114 | int SetGoal(int degrees, int flags = 0); |
akichika | 0:db8f063d50f0 | 115 | |
akichika | 0:db8f063d50f0 | 116 | |
akichika | 0:db8f063d50f0 | 117 | /** Set the speed of the servo in continuous rotation mode |
akichika | 0:db8f063d50f0 | 118 | * |
akichika | 0:db8f063d50f0 | 119 | * @param speed, -1.0 to 1.0 |
akichika | 0:db8f063d50f0 | 120 | * -1.0 = full speed counter clock wise |
akichika | 0:db8f063d50f0 | 121 | * 1.0 = full speed clock wise |
akichika | 0:db8f063d50f0 | 122 | */ |
akichika | 0:db8f063d50f0 | 123 | int SetCRSpeed(float speed); |
akichika | 0:db8f063d50f0 | 124 | |
akichika | 0:db8f063d50f0 | 125 | |
akichika | 0:db8f063d50f0 | 126 | /** Set the clockwise limit of the servo |
akichika | 0:db8f063d50f0 | 127 | * |
akichika | 0:db8f063d50f0 | 128 | * @param degrees, 0-300 |
akichika | 0:db8f063d50f0 | 129 | */ |
akichika | 0:db8f063d50f0 | 130 | int SetCWLimit(int degrees); |
akichika | 0:db8f063d50f0 | 131 | |
akichika | 0:db8f063d50f0 | 132 | /** Set the counter-clockwise limit of the servo |
akichika | 0:db8f063d50f0 | 133 | * |
akichika | 0:db8f063d50f0 | 134 | * @param degrees, 0-300 |
akichika | 0:db8f063d50f0 | 135 | */ |
akichika | 0:db8f063d50f0 | 136 | int SetCCWLimit(int degrees); |
akichika | 0:db8f063d50f0 | 137 | |
akichika | 0:db8f063d50f0 | 138 | // Change the ID |
akichika | 0:db8f063d50f0 | 139 | |
akichika | 0:db8f063d50f0 | 140 | /** Change the ID of a servo |
akichika | 0:db8f063d50f0 | 141 | * |
akichika | 0:db8f063d50f0 | 142 | * @param CurentID 1-255 |
akichika | 0:db8f063d50f0 | 143 | * @param NewID 1-255 |
akichika | 0:db8f063d50f0 | 144 | * |
akichika | 0:db8f063d50f0 | 145 | * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID. |
akichika | 0:db8f063d50f0 | 146 | * In this situation, only one servo should be connected to the bus |
akichika | 0:db8f063d50f0 | 147 | */ |
akichika | 0:db8f063d50f0 | 148 | int SetID(int CurrentID, int NewID); |
akichika | 0:db8f063d50f0 | 149 | |
akichika | 0:db8f063d50f0 | 150 | /** Set to enable the torque of the servo |
akichika | 0:db8f063d50f0 | 151 | * |
akichika | 0:db8f063d50f0 | 152 | * @param enable, true|false |
akichika | 0:db8f063d50f0 | 153 | */ |
akichika | 0:db8f063d50f0 | 154 | int SetTorqueEnable(bool enable); |
akichika | 0:db8f063d50f0 | 155 | |
akichika | 0:db8f063d50f0 | 156 | /** Poll to see if the servo is moving |
akichika | 0:db8f063d50f0 | 157 | * |
akichika | 0:db8f063d50f0 | 158 | * @returns true is the servo is moving |
akichika | 0:db8f063d50f0 | 159 | */ |
akichika | 0:db8f063d50f0 | 160 | int isMoving(void); |
akichika | 0:db8f063d50f0 | 161 | |
akichika | 0:db8f063d50f0 | 162 | /** Send the broadcast "trigger" command, to activate any outstanding registered commands |
akichika | 0:db8f063d50f0 | 163 | */ |
akichika | 0:db8f063d50f0 | 164 | void trigger(void); |
akichika | 0:db8f063d50f0 | 165 | |
akichika | 0:db8f063d50f0 | 166 | /** Read the current angle of the servo |
akichika | 0:db8f063d50f0 | 167 | * |
akichika | 0:db8f063d50f0 | 168 | * @returns float in the range 0.0-300.0 |
akichika | 0:db8f063d50f0 | 169 | */ |
akichika | 0:db8f063d50f0 | 170 | float GetPosition(); |
akichika | 0:db8f063d50f0 | 171 | |
akichika | 0:db8f063d50f0 | 172 | /** Read the temperature of the servo |
akichika | 0:db8f063d50f0 | 173 | * |
akichika | 0:db8f063d50f0 | 174 | * @returns float temperature |
akichika | 0:db8f063d50f0 | 175 | */ |
akichika | 0:db8f063d50f0 | 176 | float GetTemp(void); |
akichika | 0:db8f063d50f0 | 177 | |
akichika | 0:db8f063d50f0 | 178 | /** Read the supply voltage of the servo |
akichika | 0:db8f063d50f0 | 179 | * |
akichika | 0:db8f063d50f0 | 180 | * @returns float voltage |
akichika | 0:db8f063d50f0 | 181 | */ |
akichika | 0:db8f063d50f0 | 182 | float GetVolts(void); |
akichika | 0:db8f063d50f0 | 183 | |
akichika | 0:db8f063d50f0 | 184 | int read(int ID, int start, int length, char* data); |
akichika | 0:db8f063d50f0 | 185 | int write(int ID, int start, int length, char* data, int flag=0); |
aimen | 1:cb08e032ef91 | 186 | char *itoa(short int n ); |
akichika | 0:db8f063d50f0 | 187 | |
akichika | 0:db8f063d50f0 | 188 | private : |
akichika | 0:db8f063d50f0 | 189 | |
akichika | 0:db8f063d50f0 | 190 | SerialHalfDuplex _ax12; |
akichika | 0:db8f063d50f0 | 191 | int _ID; |
akichika | 0:db8f063d50f0 | 192 | int _baud; |
akichika | 0:db8f063d50f0 | 193 | |
akichika | 0:db8f063d50f0 | 194 | |
akichika | 0:db8f063d50f0 | 195 | }; |
akichika | 0:db8f063d50f0 | 196 | |
akichika | 0:db8f063d50f0 | 197 | #endif |