Revision 0:459be9e7bfe6, committed 2010-04-02

Comitter:

deoryp

Date:

Fri Apr 02 23:51:11 2010 +0000

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12.cpp	Fri Apr 02 23:51:11 2010 +0000
@@ -0,0 +1,13 @@
+#include "AX12.h"
+
+AX12::AX12(int id) {
+    _id = id;
+}
+
+int AX12::getId() {
+    return _id;
+}
+
+void AX12::setId(int id) {
+    _id = id;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12.h	Fri Apr 02 23:51:11 2010 +0000
@@ -0,0 +1,35 @@
+/*
+  ax12.h - arbotiX Library for AX-12 Servos
+  Copyright (c) 2008,2009 Michael E. Ferguson.  All right reserved.
+    Modifed by Scott Nichols, 2010
+    
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef AX12_h
+#define AX12_h
+
+class AX12 {
+    public:
+        AX12(int id);
+        int getId();
+        void setId(int id);
+          
+    private:
+        int _id;
+
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorBusManager.cpp	Fri Apr 02 23:51:11 2010 +0000
@@ -0,0 +1,25 @@
+
+#include "MotorBusManager.h"
+
+
+MotorBusManager::MotorBusManager(long baud) {
+    nextMotorIndex = 0;
+}
+
+int MotorBusManager::addMotor(int id) {
+    if (nextMotorIndex >= MAX_MOTORS) {
+        return -1;
+    }
+    AX12 newMotor = new AX12(id);
+    motorBus[nextMotorIndex] = &newMotor;
+    nextMotorIndex++;
+    return nextMotorIndex-1;
+}
+
+int MotorBusManager::getRegister(int index, int regstart, int length) {
+    return -1;
+}
+
+void MotorBusManager::setRegister(int index, int regstart, int data) {
+
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorBusManager.h	Fri Apr 02 23:51:11 2010 +0000
@@ -0,0 +1,20 @@
+#ifndef __motor_bus_manager_h
+#define __motor_bus_manager_h
+
+#include "AX12.h"
+
+#define MAX_MOTORS 2
+
+class MotorBusManager {
+    public:
+        MotorBusManager(long baud);
+        int  addMotor(int id);
+        int  getRegister(int index, int regstart, int length);
+        void setRegister(int index, int regstart, int data);
+        
+    private:
+        int nextMotorIndex;
+        AX12* motorBus[MAX_MOTORS];
+}
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ax12_defines.h	Fri Apr 02 23:51:11 2010 +0000
@@ -0,0 +1,89 @@
+/*
+  ax12.h - arbotiX Library for AX-12 Servos
+  Copyright (c) 2008,2009 Michael E. Ferguson.  All right reserved.
+    Modifed by Scott Nichols, 2010
+    
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef __ax12_defines_h
+#define __ax12_defines_h
+
+/** EEPROM AREA **/
+#define AX_MODEL_NUMBER_L           0
+#define AX_MODEL_NUMBER_H           1
+#define AX_VERSION                  2
+#define AX_ID                       3
+#define AX_BAUD_RATE                4
+#define AX_RETURN_DELAY_TIME        5
+#define AX_CW_ANGLE_LIMIT_L         6
+#define AX_CW_ANGLE_LIMIT_H         7
+#define AX_CCW_ANGLE_LIMIT_L        8
+#define AX_CCW_ANGLE_LIMIT_H        9
+#define AX_SYSTEM_DATA2             10
+#define AX_LIMIT_TEMPERATURE        11
+#define AX_DOWN_LIMIT_VOLTAGE       12
+#define AX_UP_LIMIT_VOLTAGE         13
+#define AX_MAX_TORQUE_L             14
+#define AX_MAX_TORQUE_H             15
+#define AX_RETURN_LEVEL             16
+#define AX_ALARM_LED                17
+#define AX_ALARM_SHUTDOWN           18
+#define AX_OPERATING_MODE           19
+#define AX_DOWN_CALIBRATION_L       20
+#define AX_DOWN_CALIBRATION_H       21
+#define AX_UP_CALIBRATION_L         22
+#define AX_UP_CALIBRATION_H         23
+/** RAM AREA **/
+#define AX_TORQUE_ENABLE            24
+#define AX_LED                      25
+#define AX_CW_COMPLIANCE_MARGIN     26
+#define AX_CCW_COMPLIANCE_MARGIN    27
+#define AX_CW_COMPLIANCE_SLOPE      28
+#define AX_CCW_COMPLIANCE_SLOPE     29
+#define AX_GOAL_POSITION_L          30
+#define AX_GOAL_POSITION_H          31
+#define AX_GOAL_SPEED_L             32
+#define AX_GOAL_SPEED_H             33
+#define AX_TORQUE_LIMIT_L           34
+#define AX_TORQUE_LIMIT_H           35
+#define AX_PRESENT_POSITION_L       36
+#define AX_PRESENT_POSITION_H       37
+#define AX_PRESENT_SPEED_L          38
+#define AX_PRESENT_SPEED_H          39
+#define AX_PRESENT_LOAD_L           40
+#define AX_PRESENT_LOAD_H           41
+#define AX_PRESENT_VOLTAGE          42
+#define AX_PRESENT_TEMPERATURE      43
+#define AX_REGISTERED_INSTRUCTION   44
+#define AX_PAUSE_TIME               45
+#define AX_MOVING                   46
+#define AX_LOCK                     47
+#define AX_PUNCH_L                  48
+#define AX_PUNCH_H                  49
+/** Status Return Levels **/
+#define AX_RETURN_NONE              0
+#define AX_RETURN_READ              1
+#define AX_RETURN_ALL               2
+/** Instruction Set **/
+#define AX_PING                     1
+#define AX_READ_DATA                2
+#define AX_WRITE_DATA               3
+#define AX_REG_WRITE                4
+#define AX_ACTION                   5
+#define AX_RESET                    6
+#define AX_SYNC_WRITE               131
+
+#endif