Denis Brousse
Avec mesure de pression
Fork of
Serial_HelloWorld_Mbed
by 
mbed official
MX-28_DefConstantes.h@4:0cab1f60b700, 2015-05-27 (annotated)
- Committer:
- dbrousse
- Date:
- Wed May 27 14:46:59 2015 +0000
- Revision:
- 4:0cab1f60b700
- Parent:
- 1:b9cade20e07e
mesure pression
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| dbrousse | 1:b9cade20e07e | 1 | // *** DO NOT MODIFY THESE CONSTANTS *** |
| dbrousse | 1:b9cade20e07e | 2 | #define MX28_BUFFER_SIZE 0x8F |
| dbrousse | 1:b9cade20e07e | 3 | |
| dbrousse | 1:b9cade20e07e | 4 | #define MX28_PROTOCOL_COMMAND_RESPONSE_TIMEOUT_MS 200 |
| dbrousse | 1:b9cade20e07e | 5 | |
| dbrousse | 1:b9cade20e07e | 6 | #define MX28_PROTOCOL_HEADER_0 0xFF |
| dbrousse | 1:b9cade20e07e | 7 | #define MX28_PROTOCOL_HEADER_1 0xFF |
| dbrousse | 1:b9cade20e07e | 8 | |
| dbrousse | 1:b9cade20e07e | 9 | #define MX28_PROTOCOL_BROADCAST_ID 0xFE |
| dbrousse | 1:b9cade20e07e | 10 | |
| dbrousse | 1:b9cade20e07e | 11 | // EEPROM Area |
| dbrousse | 1:b9cade20e07e | 12 | #define MX28_MODEL_NUMBER_L 0x00 |
| dbrousse | 1:b9cade20e07e | 13 | #define MX28_MODEL_NUMBER_H 0x01 |
| dbrousse | 1:b9cade20e07e | 14 | #define MX28_VERSION 0x02 |
| dbrousse | 1:b9cade20e07e | 15 | #define MX28_ID 0x03 |
| dbrousse | 1:b9cade20e07e | 16 | #define MX28_BAUD_RATE 0x04 |
| dbrousse | 1:b9cade20e07e | 17 | #define MX28_RETURN_DELAY_TIME 0x05 |
| dbrousse | 1:b9cade20e07e | 18 | #define MX28_CW_ANGLE_LIMIT_L 0x06 |
| dbrousse | 1:b9cade20e07e | 19 | #define MX28_CW_ANGLE_LIMIT_H 0x07 |
| dbrousse | 1:b9cade20e07e | 20 | #define MX28_CCW_ANGLE_LIMIT_L 0x08 |
| dbrousse | 1:b9cade20e07e | 21 | #define MX28_CCW_ANGLE_LIMIT_H 0x09 |
| dbrousse | 1:b9cade20e07e | 22 | #define MX28_UP_LIMIT_TEMPERATURE 0x0B |
| dbrousse | 1:b9cade20e07e | 23 | #define MX28_DOWN_LIMIT_VOLTAGE 0x0C |
| dbrousse | 1:b9cade20e07e | 24 | #define MX28_UP_LIMIT_VOLTAGE 0x0D |
| dbrousse | 1:b9cade20e07e | 25 | #define MX28_MAX_TORQUE_L 0x0E |
| dbrousse | 1:b9cade20e07e | 26 | #define MX28_MAX_TORQUE_H 0x0F |
| dbrousse | 1:b9cade20e07e | 27 | #define MX28_STATUS_RETURN_LEVEL 0x10 |
| dbrousse | 1:b9cade20e07e | 28 | #define MX28_ALARM_LED 0x11 |
| dbrousse | 1:b9cade20e07e | 29 | #define MX28_ALARM_SHUTDOWN 0x12 |
| dbrousse | 1:b9cade20e07e | 30 | |
| dbrousse | 1:b9cade20e07e | 31 | // RAM Area |
| dbrousse | 1:b9cade20e07e | 32 | #define MX28_TORQUE_ENABLE 0x18 |
| dbrousse | 1:b9cade20e07e | 33 | #define MX28_LED_ENABLE 0x19 |
| dbrousse | 1:b9cade20e07e | 34 | #define MX28_D_GAIN 0x1A |
| dbrousse | 1:b9cade20e07e | 35 | #define MX28_I_GAIN 0x1B |
| dbrousse | 1:b9cade20e07e | 36 | #define MX28_P_GAIN 0x1C |
| dbrousse | 1:b9cade20e07e | 37 | #define MX28_GOAL_POSITION_L 0x1E |
| dbrousse | 1:b9cade20e07e | 38 | #define MX28_GOAL_POSITION_H 0x1F |
| dbrousse | 1:b9cade20e07e | 39 | #define MX28_MOVING_SPEED_L 0x20 |
| dbrousse | 1:b9cade20e07e | 40 | #define MX28_MOVING_SPEED_H 0x21 |
| dbrousse | 1:b9cade20e07e | 41 | #define MX28_TORQUE_LIMIT_L 0x22 |
| dbrousse | 1:b9cade20e07e | 42 | #define MX28_TORQUE_LIMIT_H 0x23 |
| dbrousse | 1:b9cade20e07e | 43 | #define MX28_PRESENT_POSITION_L 0x24 |
| dbrousse | 1:b9cade20e07e | 44 | #define MX28_PRESENT_POSITION_H 0x25 |
| dbrousse | 1:b9cade20e07e | 45 | #define MX28_PRESENT_SPEED_L 0x26 |
| dbrousse | 1:b9cade20e07e | 46 | #define MX28_PRESENT_SPEED_H 0x27 |
| dbrousse | 1:b9cade20e07e | 47 | #define MX28_PRESENT_LOAD_L 0x28 |
| dbrousse | 1:b9cade20e07e | 48 | #define MX28_PRESENT_LOAD_H 0x29 |
| dbrousse | 1:b9cade20e07e | 49 | #define MX28_PRESENT_VOLTAGE 0x2A |
| dbrousse | 1:b9cade20e07e | 50 | #define MX28_PRESENT_TEMPERATURE 0x2B |
| dbrousse | 1:b9cade20e07e | 51 | #define MX28_REGISTERED_INSTRUCTION 0x2C |
| dbrousse | 1:b9cade20e07e | 52 | #define MX28_MOVING 0x2E |
| dbrousse | 1:b9cade20e07e | 53 | #define MX28_LOCK 0x2F |
| dbrousse | 1:b9cade20e07e | 54 | #define MX28_PUNCH_L 0x30 |
| dbrousse | 1:b9cade20e07e | 55 | #define MX28_PUNCH_H 0x31 |
| dbrousse | 1:b9cade20e07e | 56 | |
| dbrousse | 1:b9cade20e07e | 57 | // Instruction set |
| dbrousse | 1:b9cade20e07e | 58 | #define MX28_PING 0x01 |
| dbrousse | 1:b9cade20e07e | 59 | #define MX28_READ_DATA 0x02 |
| dbrousse | 1:b9cade20e07e | 60 | #define MX28_WRITE_DATA 0x03 |
| dbrousse | 1:b9cade20e07e | 61 | #define MX28_REG_WRITE 0x04 |
| dbrousse | 1:b9cade20e07e | 62 | #define MX28_ACTION 0x05 |
| dbrousse | 1:b9cade20e07e | 63 | #define MX28_RESET 0x06 |
| dbrousse | 1:b9cade20e07e | 64 | #define MX28_SYNC_WRITE 0x83 |
| dbrousse | 1:b9cade20e07e | 65 | |
| dbrousse | 1:b9cade20e07e | 66 | // Errors |
| dbrousse | 1:b9cade20e07e | 67 | #define MX28_ERRBIT_NONE 0x00 |
| dbrousse | 1:b9cade20e07e | 68 | #define MX28_ERRBIT_VOLTAGE 0x01 |
| dbrousse | 1:b9cade20e07e | 69 | #define MX28_ERRBIT_ANGLE 0x02 |
| dbrousse | 1:b9cade20e07e | 70 | #define MX28_ERRBIT_OVERHEAT 0x04 |
| dbrousse | 1:b9cade20e07e | 71 | #define MX28_ERRBIT_RANGE 0x08 |
| dbrousse | 1:b9cade20e07e | 72 | #define MX28_ERRBIT_CHECKSUM 0x10 |
| dbrousse | 1:b9cade20e07e | 73 | #define MX28_ERRBIT_OVERLOAD 0x20 |
| dbrousse | 1:b9cade20e07e | 74 | #define MX28_ERRBIT_INSTRUCTION 0x40 |
| dbrousse | 1:b9cade20e07e | 75 | |
| dbrousse | 1:b9cade20e07e | 76 | // Extra errors |
| dbrousse | 1:b9cade20e07e | 77 | #define MX28_ERRBIT_WRITE_TIMEOUT 0xFD |
| dbrousse | 1:b9cade20e07e | 78 | #define MX28_ERRBIT_READ_TIMEOUT 0xFE |
| dbrousse | 1:b9cade20e07e | 79 | #define MX28_ERRBIT_MASTER_CHECKSUM 0xFF |
| dbrousse | 1:b9cade20e07e | 80 | |
| dbrousse | 1:b9cade20e07e | 81 | #define MX28_WAIT_AFTER_WRITE 200 //A vérifier ! |
| dbrousse | 1:b9cade20e07e | 82 | // *** END "DO NOT MODIFY THESE CONSTANTS" SECTION *** |