Chris Styles
Dependents: Snackotron Single_Axis NewCyroroProto AX12 ... more
AX12.h@0:be51952765ec, 2010-06-03 (annotated)
- Committer:
- chris
- Date:
- Thu Jun 03 14:22:25 2010 +0000
- Revision:
- 0:be51952765ec
- Child:
- 1:93ad80f5fde7
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| chris | 0:be51952765ec | 1 | /* mbed AX-12+ Servo Library |
| chris | 0:be51952765ec | 2 | * |
| chris | 0:be51952765ec | 3 | * Copyright (c) 2010, cstyles (http://mbed.org) |
| chris | 0:be51952765ec | 4 | * |
| chris | 0:be51952765ec | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| chris | 0:be51952765ec | 6 | * of this software and associated documentation files (the "Software"), to deal |
| chris | 0:be51952765ec | 7 | * in the Software without restriction, including without limitation the rights |
| chris | 0:be51952765ec | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| chris | 0:be51952765ec | 9 | * copies of the Software, and to permit persons to whom the Software is |
| chris | 0:be51952765ec | 10 | * furnished to do so, subject to the following conditions: |
| chris | 0:be51952765ec | 11 | * |
| chris | 0:be51952765ec | 12 | * The above copyright notice and this permission notice shall be included in |
| chris | 0:be51952765ec | 13 | * all copies or substantial portions of the Software. |
| chris | 0:be51952765ec | 14 | * |
| chris | 0:be51952765ec | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| chris | 0:be51952765ec | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| chris | 0:be51952765ec | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| chris | 0:be51952765ec | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| chris | 0:be51952765ec | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| chris | 0:be51952765ec | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| chris | 0:be51952765ec | 21 | * THE SOFTWARE. |
| chris | 0:be51952765ec | 22 | */ |
| chris | 0:be51952765ec | 23 | |
| chris | 0:be51952765ec | 24 | #ifndef MBED_AX12_H |
| chris | 0:be51952765ec | 25 | #define MBED_AX12_H |
| chris | 0:be51952765ec | 26 | |
| chris | 0:be51952765ec | 27 | #include "mbed.h" |
| chris | 0:be51952765ec | 28 | |
| chris | 0:be51952765ec | 29 | #define AX12_WRITE_DEBUG 0 |
| chris | 0:be51952765ec | 30 | #define AX12_READ_DEBUG 0 |
| chris | 0:be51952765ec | 31 | #define AX12_TRIGGER_DEBUG 0 |
| chris | 0:be51952765ec | 32 | #define AX12_DEBUG 0 |
| chris | 0:be51952765ec | 33 | |
| chris | 0:be51952765ec | 34 | #define AX12_REG_ID 0x3 |
| chris | 0:be51952765ec | 35 | #define AX12_REG_CW_LIMIT 0x06 |
| chris | 0:be51952765ec | 36 | #define AX12_REG_CCW_LIMIT 0x08 |
| chris | 0:be51952765ec | 37 | #define AX12_REG_GOAL_POSITION 0x1E |
| chris | 0:be51952765ec | 38 | #define AX12_REG_MOVING_SPEED 0x20 |
| chris | 0:be51952765ec | 39 | #define AX12_REG_VOLTS 0x2A |
| chris | 0:be51952765ec | 40 | #define AX12_REG_TEMP 0x2B |
| chris | 0:be51952765ec | 41 | #define AX12_REG_MOVING 0x2E |
| chris | 0:be51952765ec | 42 | #define AX12_REG_POSITION 0x24 |
| chris | 0:be51952765ec | 43 | |
| chris | 0:be51952765ec | 44 | #define AX12_MODE_POSITION 0 |
| chris | 0:be51952765ec | 45 | #define AX12_MODE_ROTATION 1 |
| chris | 0:be51952765ec | 46 | |
| chris | 0:be51952765ec | 47 | #define AX12_CW 1 |
| chris | 0:be51952765ec | 48 | #define AX12_CCW 0 |
| chris | 0:be51952765ec | 49 | |
| chris | 0:be51952765ec | 50 | class AX12 { |
| chris | 0:be51952765ec | 51 | |
| chris | 0:be51952765ec | 52 | public: |
| chris | 0:be51952765ec | 53 | |
| chris | 0:be51952765ec | 54 | // define which pins are used, and the ID of this instance |
| chris | 0:be51952765ec | 55 | // Mutiple AX12's can share the same pins. |
| chris | 0:be51952765ec | 56 | AX12(PinName tx, PinName rx, int ID); |
| chris | 0:be51952765ec | 57 | |
| chris | 0:be51952765ec | 58 | // methods for writing and reading registers |
| chris | 0:be51952765ec | 59 | int read(int ID, int start, int length, char* data); |
| chris | 0:be51952765ec | 60 | int write(int ID, int start, int length, char* data, int flag=0); |
| chris | 0:be51952765ec | 61 | |
| chris | 0:be51952765ec | 62 | // set goal angle in integer degrees |
| chris | 0:be51952765ec | 63 | // flags[0] = blocking (only returns when goal reached |
| chris | 0:be51952765ec | 64 | // flags[1] = register. Requires broadcast trigger to activate |
| chris | 0:be51952765ec | 65 | int SetGoal(int degrees, int flags = 0); |
| chris | 0:be51952765ec | 66 | |
| chris | 0:be51952765ec | 67 | // Mode = 0, positional |
| chris | 0:be51952765ec | 68 | // Mode = 1, continuous rotation |
| chris | 0:be51952765ec | 69 | int SetMode(int mode); |
| chris | 0:be51952765ec | 70 | |
| chris | 0:be51952765ec | 71 | // Speed is -1.0 (CCW) to 1.0 (CW) |
| chris | 0:be51952765ec | 72 | int SetCRSpeed(float speed); |
| chris | 0:be51952765ec | 73 | |
| chris | 0:be51952765ec | 74 | // set these in degrees, CCW limit is 300 |
| chris | 0:be51952765ec | 75 | // If both are set to zero, we are continuous rotation |
| chris | 0:be51952765ec | 76 | int SetCWLimit(int degrees); |
| chris | 0:be51952765ec | 77 | int SetCCWLimit(int degrees); |
| chris | 0:be51952765ec | 78 | |
| chris | 0:be51952765ec | 79 | // Change the ID |
| chris | 0:be51952765ec | 80 | int SetID(int CurrentID, int NewID); |
| chris | 0:be51952765ec | 81 | |
| chris | 0:be51952765ec | 82 | // returns true if the motor is in motion |
| chris | 0:be51952765ec | 83 | int isMoving(void); |
| chris | 0:be51952765ec | 84 | |
| chris | 0:be51952765ec | 85 | // broadcast to trigger registered goals |
| chris | 0:be51952765ec | 86 | void trigger(void); |
| chris | 0:be51952765ec | 87 | |
| chris | 0:be51952765ec | 88 | // Get current angle, only valid 0-300 |
| chris | 0:be51952765ec | 89 | float GetPosition(); |
| chris | 0:be51952765ec | 90 | |
| chris | 0:be51952765ec | 91 | // In volts and ^C |
| chris | 0:be51952765ec | 92 | float GetTemp(void); |
| chris | 0:be51952765ec | 93 | float GetVolts(void); |
| chris | 0:be51952765ec | 94 | |
| chris | 0:be51952765ec | 95 | private : |
| chris | 0:be51952765ec | 96 | |
| chris | 0:be51952765ec | 97 | SerialHalfDuplex _ax12; |
| chris | 0:be51952765ec | 98 | int _ID; |
| chris | 0:be51952765ec | 99 | |
| chris | 0:be51952765ec | 100 | }; |
| chris | 0:be51952765ec | 101 | |
| chris | 0:be51952765ec | 102 | #endif |
AX-12