Amador Valley High School Robotics Team / Mbed 2 deprecated MiniSSC2

This program contains a class that makes it easy for the mbed to communicate with the Mini SSC II or the Pololu Maestro in SSC compatibility mode. (they are servo/motor controllers)

Dependencies:   mbed

minissc.cpp@0:399d7ca2d0bb, 2011-10-16 (annotated)

Committer:
avbotz
Date:
Sun Oct 16 03:54:50 2011 +0000
Revision:
0:399d7ca2d0bb
Child:
1:8f9d24a87600
Initial commit. ; ; Untested - Basic stuff to send to the Mini SSC 2.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
avbotz 0:399d7ca2d0bb 1 /*
avbotz 0:399d7ca2d0bb 2 * Demo of communicating with Mini SSC 2.
avbotz 0:399d7ca2d0bb 3 */
avbotz 0:399d7ca2d0bb 4
avbotz 0:399d7ca2d0bb 5 #include "mbed.h"
avbotz 0:399d7ca2d0bb 6
avbotz 0:399d7ca2d0bb 7 #define SSC_SYNC_BYTE 255
avbotz 0:399d7ca2d0bb 8
avbotz 0:399d7ca2d0bb 9 class MiniSSC2 {
avbotz 0:399d7ca2d0bb 10 public:
avbotz 0:399d7ca2d0bb 11 MiniSSC2(int num_motors);
avbotz 0:399d7ca2d0bb 12 ~MiniSSC2();
avbotz 0:399d7ca2d0bb 13 void send();
avbotz 0:399d7ca2d0bb 14 void send(int i_motor);
avbotz 0:399d7ca2d0bb 15 void set(int i_motor, char value);
avbotz 0:399d7ca2d0bb 16 private:
avbotz 0:399d7ca2d0bb 17 Serial* p_device;
avbotz 0:399d7ca2d0bb 18 int num_motors;
avbotz 0:399d7ca2d0bb 19
avbotz 0:399d7ca2d0bb 20 //These arrays send input to the miniSSC2 which in turn sends to the motors.
avbotz 0:399d7ca2d0bb 21 //The format for the arrays: {SYNC_BYTE, servo number, speed}
avbotz 0:399d7ca2d0bb 22 //SYNC_BYTE tells the miniSSC2 that we're about to send new instructions.
avbotz 0:399d7ca2d0bb 23 //The servo number picks the motor. 1 = right, 2 = back, 3 = front, 4 = left
avbotz 0:399d7ca2d0bb 24 //We set the speed anywhere between 0 and 254. 127 is off, 254 is 100% forward, 0 is 100% back. Extrapolate.
avbotz 0:399d7ca2d0bb 25 //On the back motor, the numbers are reversed. 0 is 100% forward, 254 is 100% back. 127 is still off.
avbotz 0:399d7ca2d0bb 26 char motors[9]; // I think the Mini SSC2 supports 9 motors
avbotz 0:399d7ca2d0bb 27 };
avbotz 0:399d7ca2d0bb 28
avbotz 0:399d7ca2d0bb 29 MiniSSC2::MiniSSC2(int a) {
avbotz 0:399d7ca2d0bb 30 num_motors = a;
avbotz 0:399d7ca2d0bb 31 p_device = new Serial(p9, p10); //tx, rx
avbotz 0:399d7ca2d0bb 32 p_device->baud(9600);
avbotz 0:399d7ca2d0bb 33 for (int i = num_motors-1; i < num_motors; i++)
avbotz 0:399d7ca2d0bb 34 motors[i] = 127;
avbotz 0:399d7ca2d0bb 35 }
avbotz 0:399d7ca2d0bb 36
avbotz 0:399d7ca2d0bb 37 MiniSSC2::~MiniSSC2() {
avbotz 0:399d7ca2d0bb 38 if (p_device != NULL)
avbotz 0:399d7ca2d0bb 39 delete p_device;
avbotz 0:399d7ca2d0bb 40 }
avbotz 0:399d7ca2d0bb 41
avbotz 0:399d7ca2d0bb 42 void MiniSSC2::send() {
avbotz 0:399d7ca2d0bb 43 for (int i = 0; i < num_motors; i++) {
avbotz 0:399d7ca2d0bb 44 send(i);
avbotz 0:399d7ca2d0bb 45 }
avbotz 0:399d7ca2d0bb 46 }
avbotz 0:399d7ca2d0bb 47
avbotz 0:399d7ca2d0bb 48 void MiniSSC2::send(int i_motor) {
avbotz 0:399d7ca2d0bb 49 i_motor--;
avbotz 0:399d7ca2d0bb 50
avbotz 0:399d7ca2d0bb 51 p_device->putc(SSC_SYNC_BYTE);
avbotz 0:399d7ca2d0bb 52 p_device->putc((char)i_motor);
avbotz 0:399d7ca2d0bb 53 p_device->putc(motors[i_motor]);
avbotz 0:399d7ca2d0bb 54 }
avbotz 0:399d7ca2d0bb 55
avbotz 0:399d7ca2d0bb 56 void MiniSSC2::set(int i_motor, char value) {
avbotz 0:399d7ca2d0bb 57 motors[i_motor-1] = value;
avbotz 0:399d7ca2d0bb 58 }
avbotz 0:399d7ca2d0bb 59
avbotz 0:399d7ca2d0bb 60 DigitalOut led1(LED1);
avbotz 0:399d7ca2d0bb 61
avbotz 0:399d7ca2d0bb 62 MiniSSC2 ssc(4);
avbotz 0:399d7ca2d0bb 63 Ticker ssc_to;
avbotz 0:399d7ca2d0bb 64
avbotz 0:399d7ca2d0bb 65 void ssc_send_cb() {
avbotz 0:399d7ca2d0bb 66 ssc.send();
avbotz 0:399d7ca2d0bb 67 }
avbotz 0:399d7ca2d0bb 68
avbotz 0:399d7ca2d0bb 69 int main() {
avbotz 0:399d7ca2d0bb 70 ssc.set(1,33);
avbotz 0:399d7ca2d0bb 71 ssc.set(2,34);
avbotz 0:399d7ca2d0bb 72 ssc.set(3,35);
avbotz 0:399d7ca2d0bb 73 ssc.set(4,36);
avbotz 0:399d7ca2d0bb 74
avbotz 0:399d7ca2d0bb 75 ssc_to.attach(&ssc_send_cb, 0.002);
avbotz 0:399d7ca2d0bb 76 while (true);
avbotz 0:399d7ca2d0bb 77 }
avbotz 0:399d7ca2d0bb 78 // Don't delete this comment.