Denis Brousse
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AX12-VoiceTronics_DB03-IRQ
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MX-28_DefConstantes.h
00001 // *** DO NOT MODIFY THESE CONSTANTS *** 00002 #define MX28_BUFFER_SIZE 0x8F 00003 00004 #define MX28_PROTOCOL_COMMAND_RESPONSE_TIMEOUT_MS 200 00005 00006 #define MX28_PROTOCOL_HEADER_0 0xFF 00007 #define MX28_PROTOCOL_HEADER_1 0xFF 00008 00009 #define MX28_PROTOCOL_BROADCAST_ID 0xFE 00010 00011 // EEPROM Area 00012 #define MX28_MODEL_NUMBER_L 0x00 00013 #define MX28_MODEL_NUMBER_H 0x01 00014 #define MX28_VERSION 0x02 00015 #define MX28_ID 0x03 00016 #define MX28_BAUD_RATE 0x04 00017 #define MX28_RETURN_DELAY_TIME 0x05 00018 #define MX28_CW_ANGLE_LIMIT_L 0x06 00019 #define MX28_CW_ANGLE_LIMIT_H 0x07 00020 #define MX28_CCW_ANGLE_LIMIT_L 0x08 00021 #define MX28_CCW_ANGLE_LIMIT_H 0x09 00022 #define MX28_UP_LIMIT_TEMPERATURE 0x0B 00023 #define MX28_DOWN_LIMIT_VOLTAGE 0x0C 00024 #define MX28_UP_LIMIT_VOLTAGE 0x0D 00025 #define MX28_MAX_TORQUE_L 0x0E 00026 #define MX28_MAX_TORQUE_H 0x0F 00027 #define MX28_STATUS_RETURN_LEVEL 0x10 00028 #define MX28_ALARM_LED 0x11 00029 #define MX28_ALARM_SHUTDOWN 0x12 00030 00031 // RAM Area 00032 #define MX28_TORQUE_ENABLE 0x18 00033 #define MX28_LED_ENABLE 0x19 00034 #define MX28_D_GAIN 0x1A 00035 #define MX28_I_GAIN 0x1B 00036 #define MX28_P_GAIN 0x1C 00037 #define MX28_GOAL_POSITION_L 0x1E 00038 #define MX28_GOAL_POSITION_H 0x1F 00039 #define MX28_MOVING_SPEED_L 0x20 00040 #define MX28_MOVING_SPEED_H 0x21 00041 #define MX28_TORQUE_LIMIT_L 0x22 00042 #define MX28_TORQUE_LIMIT_H 0x23 00043 #define MX28_PRESENT_POSITION_L 0x24 00044 #define MX28_PRESENT_POSITION_H 0x25 00045 #define MX28_PRESENT_SPEED_L 0x26 00046 #define MX28_PRESENT_SPEED_H 0x27 00047 #define MX28_PRESENT_LOAD_L 0x28 00048 #define MX28_PRESENT_LOAD_H 0x29 00049 #define MX28_PRESENT_VOLTAGE 0x2A 00050 #define MX28_PRESENT_TEMPERATURE 0x2B 00051 #define MX28_REGISTERED_INSTRUCTION 0x2C 00052 #define MX28_MOVING 0x2E 00053 #define MX28_LOCK 0x2F 00054 #define MX28_PUNCH_L 0x30 00055 #define MX28_PUNCH_H 0x31 00056 00057 // Instruction set 00058 #define MX28_PING 0x01 00059 #define MX28_READ_DATA 0x02 00060 #define MX28_WRITE_DATA 0x03 00061 #define MX28_REG_WRITE 0x04 00062 #define MX28_ACTION 0x05 00063 #define MX28_RESET 0x06 00064 #define MX28_SYNC_WRITE 0x83 00065 00066 // Errors 00067 #define MX28_ERRBIT_NONE 0x00 00068 #define MX28_ERRBIT_VOLTAGE 0x01 00069 #define MX28_ERRBIT_ANGLE 0x02 00070 #define MX28_ERRBIT_OVERHEAT 0x04 00071 #define MX28_ERRBIT_RANGE 0x08 00072 #define MX28_ERRBIT_CHECKSUM 0x10 00073 #define MX28_ERRBIT_OVERLOAD 0x20 00074 #define MX28_ERRBIT_INSTRUCTION 0x40 00075 00076 // Extra errors 00077 #define MX28_ERRBIT_WRITE_TIMEOUT 0xFD 00078 #define MX28_ERRBIT_READ_TIMEOUT 0xFE 00079 #define MX28_ERRBIT_MASTER_CHECKSUM 0xFF 00080 00081 #define MX28_WAIT_AFTER_WRITE 200 //A vérifier ! 00082 // *** END "DO NOT MODIFY THESE CONSTANTS" SECTION ***
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