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.h@3:5c664d91ba63, 2013-07-08 (annotated)

Committer:
avbotz
Date:
Mon Jul 08 04:02:04 2013 +0000
Revision:
3:5c664d91ba63
Parent:
2:e5458113c26b 
Initial commit.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
avbotz 2:e5458113c26b 1 #pragma once
avbotz 2:e5458113c26b 2
avbotz 2:e5458113c26b 3 #include "mbed.h"
avbotz 2:e5458113c26b 4 #include <string>
avbotz 2:e5458113c26b 5 #include <sstream>
avbotz 2:e5458113c26b 6
avbotz 1:8f9d24a87600 7 #define SSC_SYNC_BYTE 255
avbotz 1:8f9d24a87600 8
avbotz 2:e5458113c26b 9 // Stores values for and communicates with the Mini SSC II. This is used to control the motors and move the sub.
avbotz 1:8f9d24a87600 10 class MiniSSC2 {
avbotz 2:e5458113c26b 11 public:
avbotz 2:e5458113c26b 12 MiniSSC2(int num_motors, int baud, PinName tx, PinName rx);
avbotz 2:e5458113c26b 13 ~MiniSSC2();
avbotz 2:e5458113c26b 14 void send(); // send all motors' speeds to the Mini SSC II
avbotz 2:e5458113c26b 15 void send(int i_motor); // send speed of motor i_motor to the Mini SSC II
avbotz 2:e5458113c26b 16 void set(unsigned char value); // set, but don't send, all the motors to a single value
avbotz 2:e5458113c26b 17 void set(int i_motor, unsigned char value); // set, but don't send, motor number i_motor to value
avbotz 2:e5458113c26b 18 unsigned char get(int i_motor); // get the current speed for motor number i_motor
avbotz 2:e5458113c26b 19 private:
avbotz 2:e5458113c26b 20 Serial* p_device; // pointer to our serial object (used to send stuff)
avbotz 2:e5458113c26b 21 int num_motors; // number of motors, counting from 1
avbotz 2:e5458113c26b 22
avbotz 2:e5458113c26b 23 /*
avbotz 2:e5458113c26b 24 * These arrays send input to the Mini SSC II which in turn sends to the motors.
avbotz 2:e5458113c26b 25 * The format for the arrays: {SYNC_BYTE, servo number, speed}
avbotz 2:e5458113c26b 26 * SYNC_BYTE tells the Mini SSC II that we're about to send new instructions.
avbotz 2:e5458113c26b 27 * The servo number picks the motor. 1 = right, 2 = back, 3 = front, 4 = left
avbotz 2:e5458113c26b 28 * We set the speed anywhere between 0 and 254. 127 is off, 254 is 100% forward, 0 is 100% back.
avbotz 2:e5458113c26b 29 * On the back motor, the numbers are reversed. 0 is 100% forward, 254 is 100% back. 127 is still off.
avbotz 2:e5458113c26b 30 * The speed scales approximately linearly with the set values, though there is no motor motion until around 127+-15.
avbotz 2:e5458113c26b 31 */
avbotz 2:e5458113c26b 32
avbotz 2:e5458113c26b 33 //The Mini SSC II supports 8 motors. The Pololu supports 12. This array locally stores their speeds.
avbotz 2:e5458113c26b 34 unsigned char motors[24];
avbotz 2:e5458113c26b 35 };
avbotz 2:e5458113c26b 36
avbotz 2:e5458113c26b 37 void ssc_send_cb();
avbotz 3:5c664d91ba63 38 MiniSSC2 ssc(4, 9600, p13, p14); // 4 motors, baud for Mini SSC II is 9600, Mini SSC II is connected to pins 9 and 10
avbotz 3:5c664d91ba63 39 Ticker ssc_to;
avbotz 2:e5458113c26b 40
avbotz 3:5c664d91ba63 41 Ticker led1_on, led1_off;
avbotz 2:e5458113c26b 42
avbotz 2:e5458113c26b 43 // debug
avbotz 2:e5458113c26b 44 Serial PC(USBTX, USBRX); // tx, rx
avbotz 3:5c664d91ba63 45 DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4);