Diff: AX12.h

Revision:

0:be51952765ec

Child:

1:93ad80f5fde7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12.h	Thu Jun 03 14:22:25 2010 +0000
@@ -0,0 +1,102 @@
+/* mbed AX-12+ Servo Library
+ *
+ * Copyright (c) 2010, cstyles (http://mbed.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_AX12_H
+#define MBED_AX12_H
+
+#include "mbed.h"
+
+#define AX12_WRITE_DEBUG 0
+#define AX12_READ_DEBUG 0
+#define AX12_TRIGGER_DEBUG 0
+#define AX12_DEBUG 0
+
+#define AX12_REG_ID 0x3
+#define AX12_REG_CW_LIMIT 0x06
+#define AX12_REG_CCW_LIMIT 0x08
+#define AX12_REG_GOAL_POSITION 0x1E
+#define AX12_REG_MOVING_SPEED 0x20
+#define AX12_REG_VOLTS 0x2A
+#define AX12_REG_TEMP 0x2B
+#define AX12_REG_MOVING 0x2E
+#define AX12_REG_POSITION 0x24
+
+#define AX12_MODE_POSITION  0
+#define AX12_MODE_ROTATION  1
+
+#define AX12_CW 1
+#define AX12_CCW 0
+
+class AX12 {
+
+public:
+
+    // define which pins are used, and the ID of this instance
+    // Mutiple AX12's can share the same pins.
+    AX12(PinName tx, PinName rx, int ID);
+
+    // methods for writing and reading registers
+    int read(int ID, int start, int length, char* data);
+    int write(int ID, int start, int length, char* data, int flag=0);
+
+    // set goal angle in integer degrees
+    // flags[0] = blocking (only returns when goal reached
+    // flags[1] = register. Requires broadcast trigger to activate
+    int SetGoal(int degrees, int flags = 0);
+
+    // Mode = 0, positional
+    // Mode = 1, continuous rotation
+    int SetMode(int mode);
+
+    // Speed is -1.0 (CCW) to 1.0 (CW)
+    int SetCRSpeed(float speed);
+
+    // set these in degrees, CCW limit is 300
+    // If both are set to zero, we are continuous rotation
+    int SetCWLimit(int degrees);
+    int SetCCWLimit(int degrees);
+
+    // Change the ID
+    int SetID(int CurrentID, int NewID);
+
+    // returns true if the motor is in motion
+    int isMoving(void);
+
+    // broadcast to trigger registered goals
+    void trigger(void);
+
+    // Get current angle, only valid 0-300
+    float GetPosition();
+
+    // In volts and ^C
+    float GetTemp(void);
+    float GetVolts(void);
+
+private :
+
+    SerialHalfDuplex _ax12;
+    int _ID;
+
+};
+
+#endif