Dan Gongora / Dynamixel

mbed to Dynamixel servo communication.

Dependents:   dynamixel_wheel_test

Dynamixel.h@4:92ff8b2f3b3f, 2015-08-19 (annotated)

Committer:
dmgongora
Date:
Wed Aug 19 09:23:06 2015 +0000
Revision:
4:92ff8b2f3b3f
Parent:
3:61785d105315
Child:
5:7e661fef9c66
Added option to disable debugging messages

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dmgongora 0:fb8a2d249639 1 #ifndef DEF_DYNAMIXEL
dmgongora 0:fb8a2d249639 2 #define DEF_DYNAMIXEL
dmgongora 0:fb8a2d249639 3
dmgongora 0:fb8a2d249639 4 #include "mbed.h"
dmgongora 4:92ff8b2f3b3f 5 /*// ========== Compile Options ==========
dmgongora 4:92ff8b2f3b3f 6 #define ENABLE_uSerial 0
dmgongora 4:92ff8b2f3b3f 7 // ========== DEBUG Console ============
dmgongora 4:92ff8b2f3b3f 8 #if ENABLE_uSerial
dmgongora 4:92ff8b2f3b3f 9 Serial debug_userial(USBTX, USBRX);
dmgongora 4:92ff8b2f3b3f 10 #define DEBUG(...) { debug_userial.printf(__VA_ARGS__); }
dmgongora 4:92ff8b2f3b3f 11 #else
dmgongora 4:92ff8b2f3b3f 12 #define DEBUG(...)
dmgongora 4:92ff8b2f3b3f 13 #endif*/
dmgongora 1:ce081666d225 14 const unsigned char BROADCAST_ID = 0xfe;
dmgongora 1:ce081666d225 15 const unsigned char STATUS_PACKET_LENGTH = 0x06;
dmgongora 0:fb8a2d249639 16 // Instruction set
dmgongora 0:fb8a2d249639 17 const unsigned char PING = 0x01;
dmgongora 0:fb8a2d249639 18 const unsigned char READ_DATA = 0x02;
dmgongora 0:fb8a2d249639 19 const unsigned char WRITE_DATA = 0x03;
dmgongora 0:fb8a2d249639 20 const unsigned char REG_WRITE = 0x04;
dmgongora 0:fb8a2d249639 21 const unsigned char ACTION = 0x05;
dmgongora 0:fb8a2d249639 22 const unsigned char RESET = 0x06;
dmgongora 0:fb8a2d249639 23 const unsigned char SYNC_WRITE = 0x83;
dmgongora 0:fb8a2d249639 24 // Control table
dmgongora 0:fb8a2d249639 25 const unsigned char ADDRESS_PRESENT_TEMPERATURE = 0x2B;
dmgongora 0:fb8a2d249639 26 const unsigned char ADDRESS_GOAL_POSITION = 0x1E;
dmgongora 0:fb8a2d249639 27 const unsigned char ADDRESS_LED = 0x19;
dmgongora 0:fb8a2d249639 28 const unsigned char ADDRESS_MOVING_SPEED = 0x20;
dmgongora 3:61785d105315 29 const unsigned char ADDRESS_RETURN_DELAY_TIME = 0x05;
dmgongora 3:61785d105315 30 const unsigned char ADDRESS_MAX_TORQUE = 0x0E;
dmgongora 3:61785d105315 31 const unsigned char ADDRESS_TORQUE_ENABLE = 0x18;
dmgongora 0:fb8a2d249639 32
dmgongora 0:fb8a2d249639 33 class Dynamixel
dmgongora 0:fb8a2d249639 34 {
dmgongora 0:fb8a2d249639 35 public:
dmgongora 0:fb8a2d249639 36 Dynamixel(PinName tx, PinName rx, PinName txEnable, uint8_t motorID, int baudrate);
dmgongora 1:ce081666d225 37 uint8_t ping();
dmgongora 1:ce081666d225 38 uint8_t toggleLED(uint8_t ledState);
dmgongora 1:ce081666d225 39 uint8_t move(uint16_t position);
dmgongora 1:ce081666d225 40 uint8_t setSpeed(uint16_t speed);
dmgongora 3:61785d105315 41 uint8_t setReturnDelayTime(uint16_t speed);
dmgongora 3:61785d105315 42 uint8_t getReturnDelayTime();
dmgongora 0:fb8a2d249639 43 private:
dmgongora 0:fb8a2d249639 44 Serial m_link;
dmgongora 0:fb8a2d249639 45 DigitalOut m_txEnable;
dmgongora 0:fb8a2d249639 46 uint8_t m_motorID;
dmgongora 0:fb8a2d249639 47 const int m_baudrate;
dmgongora 0:fb8a2d249639 48 };
dmgongora 0:fb8a2d249639 49 #endif