Revision 0:db8f063d50f0, committed 2011-10-05
- Comitter:
- akichika
- Date:
- Wed Oct 05 12:08:21 2011 +0000
- Commit message:
- Added torque enabloe function to the AX12 class
Changed in this revision
diff -r 000000000000 -r db8f063d50f0 AX12.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12.cpp Wed Oct 05 12:08:21 2011 +0000
@@ -0,0 +1,546 @@
+/* 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.
+ */
+
+#include "AX12.h"
+#include "mbed.h"
+
+AX12::AX12(PinName tx, PinName rx, int ID, int baud)
+ : _ax12(tx,rx) {
+ _baud = baud;
+ _ID = ID;
+ _ax12.baud(_baud);
+
+}
+
+// Set the mode of the servo
+// 0 = Positional (0-300 degrees)
+// 1 = Rotational -1 to 1 speed
+int AX12::SetMode(int mode) {
+
+ if (mode == 1) { // set CR
+ SetCWLimit(0);
+ SetCCWLimit(0);
+ SetCRSpeed(0.0);
+ } else {
+ SetCWLimit(0);
+ SetCCWLimit(300);
+ SetCRSpeed(0.0);
+ }
+ return(0);
+}
+
+
+// if flag[0] is set, were blocking
+// if flag[1] is set, we're registering
+// they are mutually exclusive operations
+int AX12::SetGoal(int degrees, int flags) {
+
+ char reg_flag = 0;
+ char data[2];
+
+ // set the flag is only the register bit is set in the flag
+ if (flags == 0x2) {
+ reg_flag = 1;
+ }
+
+ // 1023 / 300 * degrees
+ short goal = (1023 * degrees) / 300;
+#ifdef AX12_DEBUG
+ printf("SetGoal to 0x%x\n",goal);
+#endif
+
+ data[0] = goal & 0xff; // bottom 8 bits
+ data[1] = goal >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
+
+ if (flags == 1) {
+ // block until it comes to a halt
+ while (isMoving()) {}
+ }
+ return(rVal);
+}
+
+
+// Set continuous rotation speed from -1 to 1
+int AX12::SetCRSpeed(float speed) {
+
+ // bit 10 = direction, 0 = CCW, 1=CW
+ // bits 9-0 = Speed
+ char data[2];
+
+ int goal = (0x3ff * abs(speed));
+
+ // Set direction CW if we have a negative speed
+ if (speed < 0) {
+ goal |= (0x1 << 10);
+ }
+
+ data[0] = goal & 0xff; // bottom 8 bits
+ data[1] = goal >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ int rVal = write(_ID, 0x20, 2, data);
+
+ return(rVal);
+}
+
+
+int AX12::SetCWLimit (int degrees) {
+
+ char data[2];
+
+ // 1023 / 300 * degrees
+ short limit = (1023 * degrees) / 300;
+
+#ifdef AX12_DEBUG
+ printf("SetCWLimit to 0x%x\n",limit);
+#endif
+
+ data[0] = limit & 0xff; // bottom 8 bits
+ data[1] = limit >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
+
+}
+
+int AX12::SetCCWLimit (int degrees) {
+
+ char data[2];
+
+ // 1023 / 300 * degrees
+ short limit = (1023 * degrees) / 300;
+
+#ifdef AX12_DEBUG
+ printf("SetCCWLimit to 0x%x\n",limit);
+#endif
+
+ data[0] = limit & 0xff; // bottom 8 bits
+ data[1] = limit >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
+}
+
+
+int AX12::SetID (int CurrentID, int NewID) {
+
+ char data[1];
+ data[0] = NewID;
+
+#ifdef AX12_DEBUG
+ printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
+#endif
+
+ return (write(CurrentID, AX12_REG_ID, 1, data));
+
+}
+
+
+int AX12::SetBaud (int baud) {
+
+ char data[1];
+ data[0] = baud;
+
+#ifdef AX12_DEBUG
+ printf("Setting Baud rate to %d\n",baud);
+#endif
+
+ return (write(0xFE, AX12_REG_BAUD, 1, data));
+
+}
+
+int AX12::SetTorqueEnable (bool enable) {
+
+ char data[1];
+ data[0] = (char)enable; // 0x01 means enable, 0x00 means disable
+
+#ifdef AX12_DEBUG
+ printf("Setting TorqueEnable bit to %d\n",enable);
+#endif
+
+ return (write(_ID, AX12_REG_TORQUE_ENABLE, 1, data));
+
+}
+
+
+// return 1 is the servo is still in flight
+int AX12::isMoving(void) {
+
+ char data[1];
+ read(_ID,AX12_REG_MOVING,1,data);
+ return(data[0]);
+}
+
+
+void AX12::trigger(void) {
+
+ char TxBuf[16];
+ char sum = 0;
+
+#ifdef AX12_TRIGGER_DEBUG
+ // Build the TxPacket first in RAM, then we'll send in one go
+ printf("\nTriggered\n");
+ printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
+#endif
+
+ TxBuf[0] = 0xFF;
+ TxBuf[1] = 0xFF;
+
+ // ID - Broadcast
+ TxBuf[2] = 0xFE;
+ sum += TxBuf[2];
+
+#ifdef AX12_TRIGGER_DEBUG
+ printf(" ID : %d\n",TxBuf[2]);
+#endif
+
+ // Length
+ TxBuf[3] = 0x02;
+ sum += TxBuf[3];
+
+#ifdef AX12_TRIGGER_DEBUG
+ printf(" Length %d\n",TxBuf[3]);
+#endif
+
+ // Instruction - ACTION
+ TxBuf[4] = 0x04;
+ sum += TxBuf[4];
+
+#ifdef AX12_TRIGGER_DEBUG
+ printf(" Instruction 0x%X\n",TxBuf[5]);
+#endif
+
+ // Checksum
+ TxBuf[5] = 0xFF - sum;
+#ifdef AX12_TRIGGER_DEBUG
+ printf(" Checksum 0x%X\n",TxBuf[5]);
+#endif
+
+ // Transmit the packet in one burst with no pausing
+ for (int i = 0; i < 6 ; i++) {
+ _ax12.putc(TxBuf[i]);
+ }
+
+ // This is a broadcast packet, so there will be no reply
+ return;
+}
+
+
+float AX12::GetPosition(void) {
+
+#ifdef AX12_DEBUG
+ printf("\nGetPosition(%d)",_ID);
+#endif
+
+ char data[2];
+
+ int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
+ short position = data[0] + (data[1] << 8);
+ float angle = (position * 300)/1024;
+
+ return (angle);
+}
+
+
+float AX12::GetTemp (void) {
+
+#ifdef AX12_DEBUG
+ printf("\nGetTemp(%d)",_ID);
+#endif
+
+ char data[1];
+ int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
+ float temp = data[0];
+ return(temp);
+}
+
+
+float AX12::GetVolts (void) {
+
+#ifdef AX12_DEBUG
+ printf("\nGetVolts(%d)",_ID);
+#endif
+
+ char data[1];
+ int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
+ float volts = data[0]/10.0;
+ return(volts);
+}
+
+
+int AX12::read(int ID, int start, int bytes, char* data) {
+
+ char PacketLength = 0x4;
+ char TxBuf[16];
+ char sum = 0;
+ char Status[16];
+
+ Status[4] = 0xFE; // return code
+
+#ifdef AX12_READ_DEBUG
+ printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
+#endif
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_READ_DEBUG
+ printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
+#endif
+
+ TxBuf[0] = 0xff;
+ TxBuf[1] = 0xff;
+
+ // ID
+ TxBuf[2] = ID;
+ sum += TxBuf[2];
+
+#ifdef AX12_READ_DEBUG
+ printf(" ID : %d\n",TxBuf[2]);
+#endif
+
+ // Packet Length
+ TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
+ sum += TxBuf[3]; // Accululate the packet sum
+
+#ifdef AX12_READ_DEBUG
+ printf(" Length : 0x%x\n",TxBuf[3]);
+#endif
+
+ // Instruction - Read
+ TxBuf[4] = 0x2;
+ sum += TxBuf[4];
+
+#ifdef AX12_READ_DEBUG
+ printf(" Instruction : 0x%x\n",TxBuf[4]);
+#endif
+
+ // Start Address
+ TxBuf[5] = start;
+ sum += TxBuf[5];
+
+#ifdef AX12_READ_DEBUG
+ printf(" Start Address : 0x%x\n",TxBuf[5]);
+#endif
+
+ // Bytes to read
+ TxBuf[6] = bytes;
+ sum += TxBuf[6];
+
+#ifdef AX12_READ_DEBUG
+ printf(" No bytes : 0x%x\n",TxBuf[6]);
+#endif
+
+ // Checksum
+ TxBuf[7] = 0xFF - sum;
+#ifdef AX12_READ_DEBUG
+ printf(" Checksum : 0x%x\n",TxBuf[7]);
+#endif
+
+ // Transmit the packet in one burst with no pausing
+ for (int i = 0; i<8 ; i++) {
+ _ax12.putc(TxBuf[i]);
+ }
+
+ // Wait for the bytes to be transmitted
+ wait (0.00002);
+
+ // Skip if the read was to the broadcast address
+ if (_ID != 0xFE) {
+
+
+
+ // response packet is always 6 + bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ // timeout is a little more than the time to transmit
+ // the packet back, i.e. (6+bytes)*10 bit periods
+
+ int timeout = 0;
+ int plen = 0;
+ while ((timeout < ((6+bytes)*10)) && (plen<(6+bytes))) {
+
+ if (_ax12.readable()) {
+ Status[plen] = _ax12.getc();
+ plen++;
+ timeout = 0;
+ }
+
+ // wait for the bit period
+ wait (1.0/_baud);
+ timeout++;
+ }
+
+ if (timeout == ((6+bytes)*10) ) {
+ return(-1);
+ }
+
+ // Copy the data from Status into data for return
+ for (int i=0; i < Status[3]-2 ; i++) {
+ data[i] = Status[5+i];
+ }
+
+#ifdef AX12_READ_DEBUG
+ printf("\nStatus Packet\n");
+ printf(" Header : 0x%x\n",Status[0]);
+ printf(" Header : 0x%x\n",Status[1]);
+ printf(" ID : 0x%x\n",Status[2]);
+ printf(" Length : 0x%x\n",Status[3]);
+ printf(" Error Code : 0x%x\n",Status[4]);
+
+ for (int i=0; i < Status[3]-2 ; i++) {
+ printf(" Data : 0x%x\n",Status[5+i]);
+ }
+
+ printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
+#endif
+
+ } // if (ID!=0xFE)
+
+ return(Status[4]);
+}
+
+
+int AX12::write(int ID, int start, int bytes, char* data, int flag) {
+// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
+
+ char TxBuf[16];
+ char sum = 0;
+ char Status[6];
+
+#ifdef AX12_WRITE_DEBUG
+ printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
+#endif
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_WRITE_DEBUG
+ printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
+#endif
+
+ TxBuf[0] = 0xff;
+ TxBuf[1] = 0xff;
+
+ // ID
+ TxBuf[2] = ID;
+ sum += TxBuf[2];
+
+#ifdef AX12_WRITE_DEBUG
+ printf(" ID : %d\n",TxBuf[2]);
+#endif
+
+ // packet Length
+ TxBuf[3] = 3+bytes;
+ sum += TxBuf[3];
+
+#ifdef AX12_WRITE_DEBUG
+ printf(" Length : %d\n",TxBuf[3]);
+#endif
+
+ // Instruction
+ if (flag == 1) {
+ TxBuf[4]=0x04;
+ sum += TxBuf[4];
+ } else {
+ TxBuf[4]=0x03;
+ sum += TxBuf[4];
+ }
+
+#ifdef AX12_WRITE_DEBUG
+ printf(" Instruction : 0x%x\n",TxBuf[4]);
+#endif
+
+ // Start Address
+ TxBuf[5] = start;
+ sum += TxBuf[5];
+
+#ifdef AX12_WRITE_DEBUG
+ printf(" Start : 0x%x\n",TxBuf[5]);
+#endif
+
+ // data
+ for (char i=0; i<bytes ; i++) {
+ TxBuf[6+i] = data[i];
+ sum += TxBuf[6+i];
+
+#ifdef AX12_WRITE_DEBUG
+ printf(" Data : 0x%x\n",TxBuf[6+i]);
+#endif
+
+ }
+
+ // checksum
+ TxBuf[6+bytes] = 0xFF - sum;
+
+#ifdef AX12_WRITE_DEBUG
+ printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
+#endif
+
+ // Transmit the packet in one burst with no pausing
+ for (int i = 0; i < (7 + bytes) ; i++) {
+ _ax12.putc(TxBuf[i]);
+ }
+
+ // Wait for data to transmit
+ wait (0.00002);
+
+ // make sure we have a valid return
+ Status[4]=0x00;
+
+ // we'll only get a reply if it was not broadcast
+ if (_ID!=0xFE) {
+
+
+ // response packet is always 6 bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ // timeout is a little more than the time to transmit
+ // the packet back, i.e. 60 bit periods, round up to 100
+ int timeout = 0;
+ int plen = 0;
+ while ((timeout < 100) && (plen<6)) {
+
+ if (_ax12.readable()) {
+ Status[plen] = _ax12.getc();
+ plen++;
+ timeout = 0;
+ }
+
+ // wait for the bit period
+ wait (1.0/_baud);
+ timeout++;
+ }
+
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+#ifdef AX12_WRITE_DEBUG
+ printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
+ printf(" ID : %d\n",Status[2]);
+ printf(" Length : %d\n",Status[3]);
+ printf(" Error : 0x%x\n",Status[4]);
+ printf(" Checksum : 0x%x\n",Status[5]);
+#endif
+
+
+ }
+
+ return(Status[4]); // return error code
+}
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