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@1:8f9d24a87600, 2011-10-16 (annotated)

Committer:
avbotz
Date:
Sun Oct 16 05:08:27 2011 +0000
Revision:
1:8f9d24a87600
Parent:
0:399d7ca2d0bb
Child:
2:e5458113c26b
Added some things here and there to make it work better. Mostly, the things are comments.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
avbotz 1:8f9d24a87600 1 /*
avbotz 1:8f9d24a87600 2 * Demo of communicating with Mini SSC 2.
avbotz 1:8f9d24a87600 3 */
avbotz 1:8f9d24a87600 4
avbotz 1:8f9d24a87600 5 #include "mbed.h"
avbotz 1:8f9d24a87600 6 #include "minissc.h"
avbotz 1:8f9d24a87600 7
avbotz 1:8f9d24a87600 8 // MiniSSC2's Constructor
avbotz 1:8f9d24a87600 9 MiniSSC2::MiniSSC2(int a, int baud) {
avbotz 1:8f9d24a87600 10 num_motors = a;
avbotz 1:8f9d24a87600 11 p_device = new Serial(p9, p10); // (tx, rx) opens up new serial device (p_device is Serial* pointer
avbotz 1:8f9d24a87600 12 p_device->baud(baud); // Set the baud.
avbotz 1:8f9d24a87600 13
avbotz 1:8f9d24a87600 14 set(127);
avbotz 1:8f9d24a87600 15 }
avbotz 1:8f9d24a87600 16
avbotz 1:8f9d24a87600 17 // MiniSSC2's Destructor
avbotz 1:8f9d24a87600 18 MiniSSC2::~MiniSSC2() {
avbotz 1:8f9d24a87600 19 if (p_device != NULL) {
avbotz 1:8f9d24a87600 20 delete p_device; // must do this. otherwise, you'll have memory leakage & you may not be able to re-open the serial port
avbotz 1:8f9d24a87600 21 }
avbotz 1:8f9d24a87600 22 }
avbotz 1:8f9d24a87600 23
avbotz 1:8f9d24a87600 24 void MiniSSC2::send() {
avbotz 1:8f9d24a87600 25 for (int i = 0; i < num_motors; i++) {
avbotz 1:8f9d24a87600 26 send(i);
avbotz 1:8f9d24a87600 27 }
avbotz 1:8f9d24a87600 28 }
avbotz 1:8f9d24a87600 29
avbotz 1:8f9d24a87600 30 void MiniSSC2::send(int i_motor) {
avbotz 1:8f9d24a87600 31 // format: {sync byte, motor id, motor power}
avbotz 1:8f9d24a87600 32 // example: {255, 2, 24}
avbotz 1:8f9d24a87600 33 p_device->putc(SSC_SYNC_BYTE);
avbotz 1:8f9d24a87600 34 p_device->putc((char)i_motor);
avbotz 1:8f9d24a87600 35 p_device->putc(motors[i_motor-1]);
avbotz 1:8f9d24a87600 36 }
avbotz 1:8f9d24a87600 37
avbotz 1:8f9d24a87600 38 void MiniSSC2::set(char value) {
avbotz 1:8f9d24a87600 39 for (int i = 1; i <= num_motors; i++) {
avbotz 1:8f9d24a87600 40 set(i, value);
avbotz 1:8f9d24a87600 41 }
avbotz 1:8f9d24a87600 42 }
avbotz 1:8f9d24a87600 43
avbotz 1:8f9d24a87600 44 void MiniSSC2::set(int i_motor, char value) {
avbotz 1:8f9d24a87600 45 motors[i_motor-1] = value;
avbotz 1:8f9d24a87600 46 }
avbotz 1:8f9d24a87600 47
avbotz 1:8f9d24a87600 48 char MiniSSC2::get(int i_motor) {
avbotz 1:8f9d24a87600 49 return motors[i_motor-1];
avbotz 1:8f9d24a87600 50 }
avbotz 1:8f9d24a87600 51
avbotz 1:8f9d24a87600 52 MiniSSC2 ssc(4, 9600); // 4 motors, baud for MiniSSC2 is 9600
avbotz 1:8f9d24a87600 53 Ticker ssc_to;
avbotz 1:8f9d24a87600 54
avbotz 1:8f9d24a87600 55 void ssc_send_cb() {
avbotz 1:8f9d24a87600 56 ssc.send(); // is there a more efficient way to do this?
avbotz 1:8f9d24a87600 57 }
avbotz 1:8f9d24a87600 58
avbotz 1:8f9d24a87600 59 // MAIN FUNCTION ==============================================================
avbotz 1:8f9d24a87600 60 int main() {
avbotz 1:8f9d24a87600 61 ssc_to.attach(&ssc_send_cb, 0.002); // run ssc_send_cb() every 0.002 seconds (Ticker)
avbotz 1:8f9d24a87600 62
avbotz 1:8f9d24a87600 63 while (true) {
avbotz 1:8f9d24a87600 64 ssc.set(127);
avbotz 1:8f9d24a87600 65 }
avbotz 1:8f9d24a87600 66 }
avbotz 1:8f9d24a87600 67 // Don't delete this comment.