mbed to Dynamixel servo communication.
Dependents: dynamixel_wheel_test
Dynamixel.cpp
- Committer:
- dmgongora
- Date:
- 2015-08-19
- Revision:
- 4:92ff8b2f3b3f
- Parent:
- 3:61785d105315
- Child:
- 6:edba46e8f8b4
File content as of revision 4:92ff8b2f3b3f:
#include "Dynamixel.h" #include "mbed.h" Dynamixel::Dynamixel(PinName tx, PinName rx, PinName txEnable, uint8_t motorID, int baudrate) : m_link(tx, rx), m_txEnable(txEnable), m_motorID(motorID), m_baudrate(baudrate) { m_link.baud(m_baudrate); } uint8_t Dynamixel::ping() { DEBUG("\n ---Ping--- \n"); uint8_t elements = 6; uint8_t instructionBuffer[elements]; uint8_t statusBuffer[STATUS_PACKET_LENGTH] = {0,0,0,0,0,0}; if (m_link.writeable() ) { instructionBuffer[0] = 0xff; instructionBuffer[1] = 0xff; instructionBuffer[2] = m_motorID; // ID instructionBuffer[3] = 0x02; // Length instructionBuffer[4] = PING; // Instruction instructionBuffer[5] = ~(instructionBuffer[2] + instructionBuffer[3] + instructionBuffer[4]) & 0xFF; // Check sum m_txEnable = 1; // Enable Tx / Disable Rx for (int i = 0; i<= elements; i++) { m_link.putc(instructionBuffer[i]); } wait_ms(1); // fix this!!! m_txEnable = 0; // Disable Tx / Enable Rx } else { // Dynamixel not writeable } wait_ms(10); // fix this!!! if ( m_motorID != BROADCAST_ID ) { int i = 0; while( m_link.readable() && i<STATUS_PACKET_LENGTH) { statusBuffer[i] = m_link.getc(); // Read status packet i++; } } // Check status packet content for (int i = 0; i < STATUS_PACKET_LENGTH; i++) { DEBUG("%x ", statusBuffer[i]); } return statusBuffer[4]; // Return error } uint8_t Dynamixel::toggleLED(uint8_t ledState) { DEBUG("\n ---Toggle--- \n"); uint8_t elements = 8; uint8_t instructionBuffer[elements]; uint8_t statusBuffer[STATUS_PACKET_LENGTH]; if (m_link.writeable() ) { instructionBuffer[0] = 0xff; instructionBuffer[1] = 0xff; instructionBuffer[2] = m_motorID; // ID instructionBuffer[3] = 0x04; // Length instructionBuffer[4] = WRITE_DATA; // Instruction instructionBuffer[5] = ADDRESS_LED; // Parameter 1: Starting address instructionBuffer[6] = ledState; // Parameter 2: First value to be writen instructionBuffer[7] = ~(instructionBuffer[2] + instructionBuffer[3] + instructionBuffer[4] + instructionBuffer[5] + instructionBuffer[6]) & 0xFF; // Check sum m_txEnable = 1; // Enable Tx / Disable Rx for (int i = 0; i<= elements; i++) { m_link.putc(instructionBuffer[i]); } wait_ms(2); // fix this!!! m_txEnable = 0; // Disable Tx / Enable Rx } else { //Dynamixel not writeable } wait_ms(10); if ( m_link.readable() && m_motorID != BROADCAST_ID ) { for (int i = 0; i < STATUS_PACKET_LENGTH; i++) { statusBuffer[i] = m_link.getc(); // Read status packet } } return statusBuffer[4]; // Return error } uint8_t Dynamixel::move(uint16_t position) { DEBUG("\n ---Move--- \n"); // 0 to 1023 (0x3FF) uint8_t elements = 9; uint8_t instructionBuffer[elements]; uint8_t statusBuffer[STATUS_PACKET_LENGTH] = {0,0,0,0,0,0}; uint16_t checkSum = 0; if (m_link.writeable() ) { instructionBuffer[0] = 0xff; instructionBuffer[1] = 0xff; instructionBuffer[2] = m_motorID; // ID instructionBuffer[3] = 0x05; // Length instructionBuffer[4] = WRITE_DATA; // Instruction instructionBuffer[5] = ADDRESS_GOAL_POSITION; // Parameter 1: Starting address instructionBuffer[6] = (uint8_t) position & 0xff; // Parameter 2: First value to be writen instructionBuffer[7] = (uint8_t) (position >> 8); // Parameter 3: Second value to be writen checkSum = ~(instructionBuffer[2] + instructionBuffer[3] + instructionBuffer[4] + instructionBuffer[5] + instructionBuffer[6] + instructionBuffer[7]); instructionBuffer[8] = (uint8_t) (checkSum & 0xff); // Check sum // Check instruction buffer for (int i = 0; i < elements; i++) { DEBUG("%x ", instructionBuffer[i]); } DEBUG("\n"); m_txEnable = 1; // Enable Tx / Disable Rx for (int i = 0; i<= elements; i++) { m_link.putc(instructionBuffer[i]); } wait_ms(2); // fix this!!! m_txEnable = 0; // Disable Tx / Enable Rx } else { //Dynamixel not writeable } wait_ms(10); if ( m_motorID != BROADCAST_ID ) { DEBUG("Trying to receiv status packet.\n"); int i = 0; while( m_link.readable() && i<STATUS_PACKET_LENGTH) { statusBuffer[i] = m_link.getc(); // Read status packet i++; //wait_ms(100); } DEBUG("Read %d bytes.\n", i); } // Check status packet content for (int i = 0; i < STATUS_PACKET_LENGTH; i++) { DEBUG("%x ", statusBuffer[i]); } return statusBuffer[4]; // Return error } uint8_t Dynamixel::setSpeed(uint16_t speed) { DEBUG("\n --- Set speed--- \n"); // 0 to 1023 (0x3FF) uint8_t elements = 9; uint8_t instructionBuffer[elements]; uint16_t checkSum = 0; uint8_t statusBuffer[STATUS_PACKET_LENGTH]; if (m_link.writeable() ) { instructionBuffer[0] = 0xff; instructionBuffer[1] = 0xff; instructionBuffer[2] = m_motorID; // ID instructionBuffer[3] = 0x05; // Length instructionBuffer[4] = WRITE_DATA; // Instruction instructionBuffer[5] = ADDRESS_MOVING_SPEED; // Parameter 1: Starting address instructionBuffer[6] = (uint8_t) speed & 0xff; // Parameter 2: First value to be writen instructionBuffer[7] = (uint8_t) (speed >> 8); // Parameter 3: Second value to be writen checkSum = ~(instructionBuffer[2] + instructionBuffer[3] + instructionBuffer[4] + instructionBuffer[5] + instructionBuffer[6] + instructionBuffer[7]); instructionBuffer[8] = (uint8_t) (checkSum & 0xff); // Check sum m_txEnable = 1; // Enable Tx / Disable Rx for (int i = 0; i<= elements; i++) { m_link.putc(instructionBuffer[i]); } wait_ms(2); // fix this!!! m_txEnable = 0; // Disable Tx / Enable Rx } else { //Dynamixel not writeable } wait_ms(10); if ( m_motorID != BROADCAST_ID ) { DEBUG("Trying to receiv status packet.\n"); int i = 0; while( m_link.readable() && i<STATUS_PACKET_LENGTH) { statusBuffer[i] = m_link.getc(); // Read status packet i++; //wait_ms(100); } DEBUG("Read %d bytes.\n", i); } // Check status packet content for (int i = 0; i < STATUS_PACKET_LENGTH; i++) { DEBUG("%x ", statusBuffer[i]); } return statusBuffer[4]; // Return error } uint8_t Dynamixel::getReturnDelayTime() { // 0 to 254 (0xFE) uint8_t elements = 8; uint8_t instructionBuffer[elements]; uint8_t statusBuffer[STATUS_PACKET_LENGTH+1] = {0,0,0,0,0,0,0}; // usual length plus the value read uint16_t checkSum = 0; if (m_link.writeable() ) { instructionBuffer[0] = 0xff; instructionBuffer[1] = 0xff; instructionBuffer[2] = m_motorID; // ID instructionBuffer[3] = 0x04; // Length instructionBuffer[4] = READ_DATA; // Instruction instructionBuffer[5] = ADDRESS_RETURN_DELAY_TIME; // Parameter 1: Starting address instructionBuffer[6] = 0x01; // Parameter 2: Number of bytes to read checkSum = ~(instructionBuffer[2] + instructionBuffer[3] + instructionBuffer[4] + instructionBuffer[5] + instructionBuffer[6]); instructionBuffer[7] = (uint8_t) (checkSum & 0xff); // Check sum // Check instruction buffer for (int i = 0; i < elements; i++) { DEBUG("%x ", instructionBuffer[i]); } DEBUG("\n"); m_txEnable = 1; // Enable Tx / Disable Rx for (int i = 0; i<= elements; i++) { m_link.putc(instructionBuffer[i]); } wait_ms(2); // fix this!!! m_txEnable = 0; // Disable Tx / Enable Rx } else { //Dynamixel not writeable } wait_ms(10); if ( m_motorID != BROADCAST_ID ) { DEBUG("Trying to receiv status packet.\n"); int i = 0; while( m_link.readable() && i<STATUS_PACKET_LENGTH + 1) { statusBuffer[i] = m_link.getc(); // Read status packet i++; //wait_ms(100); } DEBUG("Read %d bytes.\n", i); } // Check status packet content for (int i = 0; i < STATUS_PACKET_LENGTH + 1; i++) { DEBUG("%x ", statusBuffer[i]); } DEBUG("\n Delay time: %d [us]\n",statusBuffer[5]*2); return statusBuffer[5]; // Return parameter }