Akichika Tanaka / AX12

AX12.h@0:db8f063d50f0, 2011-10-05 (annotated)

Committer:
akichika
Date:
Wed Oct 05 12:08:21 2011 +0000
Revision:
0:db8f063d50f0
Added torque enabloe function to the AX12 class

Who changed what in which revision?

UserRevisionLine numberNew 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
akichika 0:db8f063d50f0 24 #ifndef MBED_AX12_H
akichika 0:db8f063d50f0 25 #define MBED_AX12_H
akichika 0:db8f063d50f0 26
akichika 0:db8f063d50f0 27 #include "mbed.h"
akichika 0:db8f063d50f0 28
akichika 0:db8f063d50f0 29 //#define AX12_WRITE_DEBUG 0
akichika 0:db8f063d50f0 30 //#define AX12_READ_DEBUG 0
akichika 0:db8f063d50f0 31 //#define AX12_TRIGGER_DEBUG 0
akichika 0:db8f063d50f0 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);
akichika 0:db8f063d50f0 186
akichika 0:db8f063d50f0 187 private :
akichika 0:db8f063d50f0 188
akichika 0:db8f063d50f0 189 SerialHalfDuplex _ax12;
akichika 0:db8f063d50f0 190 int _ID;
akichika 0:db8f063d50f0 191 int _baud;
akichika 0:db8f063d50f0 192
akichika 0:db8f063d50f0 193
akichika 0:db8f063d50f0 194 };
akichika 0:db8f063d50f0 195
akichika 0:db8f063d50f0 196 #endif