Diff: AX12.h
- Revision:
- 0:db8f063d50f0
diff -r 000000000000 -r db8f063d50f0 AX12.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12.h Wed Oct 05 12:08:21 2011 +0000
@@ -0,0 +1,196 @@
+/* mbed AX-12+ Servo Library
+ *
+ * Copyright (c) 2010, cstyles (http://mbed.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_AX12_H
+#define MBED_AX12_H
+
+#include "mbed.h"
+
+//#define AX12_WRITE_DEBUG 0
+//#define AX12_READ_DEBUG 0
+//#define AX12_TRIGGER_DEBUG 0
+//#define AX12_DEBUG 0
+
+#define AX12_REG_ID 0x3
+#define AX12_REG_BAUD 0x4
+#define AX12_REG_CW_LIMIT 0x06
+#define AX12_REG_CCW_LIMIT 0x08
+#define AX12_REG_GOAL_POSITION 0x1E
+#define AX12_REG_TORQUE_ENABLE 0x18
+#define AX12_REG_MOVING_SPEED 0x20
+#define AX12_REG_VOLTS 0x2A
+#define AX12_REG_TEMP 0x2B
+#define AX12_REG_MOVING 0x2E
+#define AX12_REG_POSITION 0x24
+
+#define AX12_MODE_POSITION 0
+#define AX12_MODE_ROTATION 1
+
+#define AX12_CW 1
+#define AX12_CCW 0
+
+/** Servo control class, based on a PwmOut
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "AX12.h"
+ *
+ * int main() {
+ *
+ * AX12 myax12 (p9, p10, 1);
+ *
+ * while (1) {
+ * myax12.SetGoal(0); // go to 0 degrees
+ * wait (2.0);
+ * myax12.SetGoal(300); // go to 300 degrees
+ * wait (2.0);
+ * }
+ * }
+ * @endcode
+ */
+class AX12 {
+
+public:
+
+ /** Create an AX12 servo object connected to the specified serial port, with the specified ID
+ *
+ * @param pin tx pin
+ * @param pin rx pin
+ * @param int ID, the Bus ID of the servo 1-255
+ */
+ AX12(PinName tx, PinName rx, int ID, int baud=1000000);
+
+ /** Set the mode of the servo
+ * @param mode
+ * 0 = Positional, default
+ * 1 = Continuous rotation
+ */
+ int SetMode(int mode);
+
+ /** Set baud rate of all attached servos
+ * @param mode
+ * 0x01 = 1,000,000 bps
+ * 0x03 = 500,000 bps
+ * 0x04 = 400,000 bps
+ * 0x07 = 250,000 bps
+ * 0x09 = 200,000 bps
+ * 0x10 = 115,200 bps
+ * 0x22 = 57,600 bps
+ * 0x67 = 19,200 bps
+ * 0xCF = 9,600 bp
+ */
+ int SetBaud(int baud);
+
+
+ /** Set goal angle in integer degrees, in positional mode
+ *
+ * @param degrees 0-300
+ * @param flags, defaults to 0
+ * flags[0] = blocking, return when goal position reached
+ * flags[1] = register, activate with a broadcast trigger
+ *
+ */
+ int SetGoal(int degrees, int flags = 0);
+
+
+ /** Set the speed of the servo in continuous rotation mode
+ *
+ * @param speed, -1.0 to 1.0
+ * -1.0 = full speed counter clock wise
+ * 1.0 = full speed clock wise
+ */
+ int SetCRSpeed(float speed);
+
+
+ /** Set the clockwise limit of the servo
+ *
+ * @param degrees, 0-300
+ */
+ int SetCWLimit(int degrees);
+
+ /** Set the counter-clockwise limit of the servo
+ *
+ * @param degrees, 0-300
+ */
+ int SetCCWLimit(int degrees);
+
+ // Change the ID
+
+ /** Change the ID of a servo
+ *
+ * @param CurentID 1-255
+ * @param NewID 1-255
+ *
+ * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
+ * In this situation, only one servo should be connected to the bus
+ */
+ int SetID(int CurrentID, int NewID);
+
+ /** Set to enable the torque of the servo
+ *
+ * @param enable, true|false
+ */
+ int SetTorqueEnable(bool enable);
+
+ /** Poll to see if the servo is moving
+ *
+ * @returns true is the servo is moving
+ */
+ int isMoving(void);
+
+ /** Send the broadcast "trigger" command, to activate any outstanding registered commands
+ */
+ void trigger(void);
+
+ /** Read the current angle of the servo
+ *
+ * @returns float in the range 0.0-300.0
+ */
+ float GetPosition();
+
+ /** Read the temperature of the servo
+ *
+ * @returns float temperature
+ */
+ float GetTemp(void);
+
+ /** Read the supply voltage of the servo
+ *
+ * @returns float voltage
+ */
+ float GetVolts(void);
+
+ int read(int ID, int start, int length, char* data);
+ int write(int ID, int start, int length, char* data, int flag=0);
+
+private :
+
+ SerialHalfDuplex _ax12;
+ int _ID;
+ int _baud;
+
+
+};
+
+#endif
Akichika Tanaka