AX12.h

00001 /* mbed AX-12+ Servo Library
00002  *
00003  * Copyright (c) 2010, cstyles (http://mbed.org)
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  */
00023 
00024 #ifndef MBED_AX12_H
00025 #define MBED_AX12_H
00026 
00027 #include "mbed.h"
00028 
00029 //#define AX12_WRITE_DEBUG 0
00030 //#define AX12_READ_DEBUG 0
00031 //#define AX12_TRIGGER_DEBUG 0
00032 //#define AX12_DEBUG 0
00033 
00034 #define AX12_REG_ID 0x3
00035 #define AX12_REG_BAUD 0x4
00036 #define AX12_REG_CW_LIMIT 0x06
00037 #define AX12_REG_CCW_LIMIT 0x08
00038 #define AX12_REG_GOAL_POSITION 0x1E
00039 #define AX12_REG_TORQUE_ENABLE 0x18
00040 #define AX12_REG_MOVING_SPEED 0x20
00041 #define AX12_REG_VOLTS 0x2A
00042 #define AX12_REG_TEMP 0x2B
00043 #define AX12_REG_MOVING 0x2E
00044 #define AX12_REG_POSITION 0x24
00045 
00046 #define AX12_MODE_POSITION  0
00047 #define AX12_MODE_ROTATION  1
00048 
00049 #define AX12_CW 1
00050 #define AX12_CCW 0
00051 
00052 /** Servo control class, based on a PwmOut
00053  *
00054  * Example:
00055  * @code
00056  * #include "mbed.h"
00057  * #include "AX12.h"
00058  * 
00059  * int main() {
00060  * 
00061  *   AX12 myax12 (p9, p10, 1);
00062  *
00063  *   while (1) {
00064  *       myax12.SetGoal(0);    // go to 0 degrees
00065  *       wait (2.0);
00066  *       myax12.SetGoal(300);  // go to 300 degrees
00067  *       wait (2.0);
00068  *   }
00069  * }
00070  * @endcode
00071  */
00072 class AX12 {
00073 
00074 public:
00075 
00076     /** Create an AX12 servo object connected to the specified serial port, with the specified ID
00077      *
00078      * @param pin tx pin
00079      * @param pin rx pin 
00080      * @param int ID, the Bus ID of the servo 1-255 
00081      */
00082     AX12(PinName tx, PinName rx, int ID, int baud=1000000);
00083 
00084     /** Set the mode of the servo
00085      * @param mode
00086      *    0 = Positional, default
00087      *    1 = Continuous rotation
00088      */
00089     int SetMode(int mode);
00090 
00091     /** Set baud rate of all attached servos
00092      * @param mode
00093      *    0x01 = 1,000,000 bps
00094      *    0x03 =   500,000 bps
00095      *    0x04 =   400,000 bps
00096      *    0x07 =   250,000 bps
00097      *    0x09 =   200,000 bps
00098      *    0x10 =   115,200 bps
00099      *    0x22 =    57,600 bps
00100      *    0x67 =    19,200 bps
00101      *    0xCF =     9,600 bp
00102      */
00103     int SetBaud(int baud);
00104 
00105 
00106     /** Set goal angle in integer degrees, in positional mode
00107      *
00108      * @param degrees 0-300
00109      * @param flags, defaults to 0
00110      *    flags[0] = blocking, return when goal position reached 
00111      *    flags[1] = register, activate with a broadcast trigger
00112      *
00113      */
00114     int SetGoal(int degrees, int flags = 0);
00115 
00116 
00117     /** Set the speed of the servo in continuous rotation mode
00118      *
00119      * @param speed, -1.0 to 1.0
00120      *   -1.0 = full speed counter clock wise
00121      *    1.0 = full speed clock wise
00122      */
00123     int SetCRSpeed(float speed);
00124 
00125 
00126     /** Set the clockwise limit of the servo
00127      *
00128      * @param degrees, 0-300
00129      */
00130     int SetCWLimit(int degrees);
00131     
00132     /** Set the counter-clockwise limit of the servo
00133      *
00134      * @param degrees, 0-300
00135      */
00136     int SetCCWLimit(int degrees);
00137 
00138     // Change the ID
00139 
00140     /** Change the ID of a servo
00141      *
00142      * @param CurentID 1-255
00143      * @param NewID 1-255
00144      *
00145      * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
00146      * In this situation, only one servo should be connected to the bus
00147      */
00148     int SetID(int CurrentID, int NewID);
00149 
00150     /** Set to enable the torque of the servo
00151      *
00152      * @param enable, true|false
00153      */
00154     int SetTorqueEnable(bool enable);
00155 
00156     /** Poll to see if the servo is moving
00157      *
00158      * @returns true is the servo is moving
00159      */
00160     int isMoving(void);
00161 
00162     /** Send the broadcast "trigger" command, to activate any outstanding registered commands
00163      */
00164     void trigger(void);
00165 
00166     /** Read the current angle of the servo
00167      *
00168      * @returns float in the range 0.0-300.0
00169      */
00170     float GetPosition();
00171 
00172     /** Read the temperature of the servo
00173      *
00174      * @returns float temperature 
00175      */
00176     float GetTemp(void);
00177 
00178     /** Read the supply voltage of the servo
00179      *
00180      * @returns float voltage
00181      */
00182     float GetVolts(void);
00183 
00184     int read(int ID, int start, int length, char* data);
00185     int write(int ID, int start, int length, char* data, int flag=0);
00186 
00187 private :
00188 
00189     SerialHalfDuplex _ax12;
00190     int _ID;
00191     int _baud;
00192 
00193 
00194 };
00195 
00196 #endif