mbed to Dynamixel servo communication.
Dependents: dynamixel_wheel_test
Dynamixel.cpp
- Committer:
- dmgongora
- Date:
- 2015-08-19
- Revision:
- 0:fb8a2d249639
- Child:
- 1:ce081666d225
File content as of revision 0:fb8a2d249639:
#include "Dynamixel.h" #include "mbed.h" Serial pc(USBTX, USBRX); 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); } void Dynamixel::ping() { uint8_t elements = 6; uint8_t packetBuffer[elements]; if (m_link.writeable() ) { packetBuffer[0] = 0xff; packetBuffer[1] = 0xff; packetBuffer[2] = m_motorID; // ID packetBuffer[3] = 0x02; // Length packetBuffer[4] = PING; // Instruction packetBuffer[5] = ~(packetBuffer[2] + packetBuffer[3] + packetBuffer[4]) & 0xFF; // Check sum pc.printf("\n Instruction packet:\n"); for (int i = 0; i<= elements; i++) { pc.printf("0x%x\t", packetBuffer[i]); } m_txEnable = 1; // Enable Tx / Disable Rx for (int i = 0; i<= elements; i++) { m_link.putc(packetBuffer[i]); } wait_ms(1); // fix this!!! m_txEnable = 0; // Disable Tx / Enable Rx } else { pc.printf("Dynamixel not writeable\n"); } //pc.baud(9600); wait_ms(10); pc.printf("\n Status packet:\n"); while ( m_link.readable() ) { pc.printf("0x%x\t", m_link.getc()); // Read status packet if available } pc.printf("\n PING: Done.\n"); } void Dynamixel::toggleLED(uint8_t ledState) { uint8_t elements = 8; uint8_t packetBuffer[elements]; if (m_link.writeable() ) { packetBuffer[0] = 0xff; packetBuffer[1] = 0xff; packetBuffer[2] = m_motorID; // ID packetBuffer[3] = 0x04; // Length packetBuffer[4] = WRITE_DATA; // Instruction packetBuffer[5] = ADDRESS_LED; // Parameter 1: Starting address packetBuffer[6] = ledState; // Parameter 2: First value to be writen packetBuffer[7] = ~(packetBuffer[2] + packetBuffer[3] + packetBuffer[4] + packetBuffer[5] + packetBuffer[6]) & 0xFF; // Check sum m_txEnable = 1; // Enable Tx / Disable Rx for (int i = 0; i<= elements; i++) { m_link.putc(packetBuffer[i]); } wait_ms(2); // fix this!!! m_txEnable = 0; // Disable Tx / Enable Rx } else { //pc.printf("Dynamixel not writeable\n"); } wait_ms(10); pc.printf("\n Status packet:\n"); while ( m_link.readable() ) { pc.printf("0x%x\t", m_link.getc()); // Read status packet if available } } void Dynamixel::move(uint16_t position) { // 0 to 1023 (0x3FF) uint8_t elements = 9; uint8_t packetBuffer[elements]; uint16_t checkSum = 0; if (m_link.writeable() ) { packetBuffer[0] = 0xff; packetBuffer[1] = 0xff; packetBuffer[2] = m_motorID; // ID packetBuffer[3] = 0x05; // Length packetBuffer[4] = WRITE_DATA; // Instruction packetBuffer[5] = ADDRESS_GOAL_POSITION; // Parameter 1: Starting address packetBuffer[6] = (uint8_t) position & 0xff; // Parameter 2: First value to be writen packetBuffer[7] = (uint8_t) (position >> 8); // Parameter 3: Second value to be writen checkSum = packetBuffer[2] + packetBuffer[3] + packetBuffer[4] + packetBuffer[5] + packetBuffer[6] + packetBuffer[7]; packetBuffer[8] = (uint8_t) (~checkSum & 0xff); // Check sum /* for (int i = 0; i<= elements; i++) { pc.printf("%c ", packetBuffer[i]); } pc.printf("\n"); */ m_txEnable = 1; // Enable Tx / Disable Rx for (int i = 0; i<= elements; i++) { m_link.putc(packetBuffer[i]); } wait_ms(2); // fix this!!! m_txEnable = 0; // Disable Tx / Enable Rx } else { //pc.printf("Dynamixel not writeable\n"); } wait_ms(10); pc.printf("\n Status packet:\n"); while ( m_link.readable() ) { pc.printf("0x%x\t", m_link.getc()); // Read status packet if available } } void Dynamixel::setSpeed(uint16_t speed) { // 0 to 1023 (0x3FF) uint8_t elements = 9; uint8_t packetBuffer[elements]; uint16_t checkSum = 0; if (m_link.writeable() ) { packetBuffer[0] = 0xff; packetBuffer[1] = 0xff; packetBuffer[2] = m_motorID; // ID packetBuffer[3] = 0x05; // Length packetBuffer[4] = WRITE_DATA; // Instruction packetBuffer[5] = ADDRESS_MOVING_SPEED; // Parameter 1: Starting address packetBuffer[6] = (uint8_t) speed & 0xff; // Parameter 2: First value to be writen packetBuffer[7] = (uint8_t) (speed >> 8); // Parameter 3: Second value to be writen checkSum = packetBuffer[2] + packetBuffer[3] + packetBuffer[4] + packetBuffer[5] + packetBuffer[6] + packetBuffer[7]; packetBuffer[8] = (uint8_t) (~checkSum & 0xff); // Check sum /* for (int i = 0; i<= elements; i++) { pc.printf("%c ", packetBuffer[i]); } pc.printf("\n"); */ m_txEnable = 1; // Enable Tx / Disable Rx for (int i = 0; i<= elements; i++) { m_link.putc(packetBuffer[i]); } wait_ms(2); // fix this!!! m_txEnable = 0; // Disable Tx / Enable Rx } else { //pc.printf("Dynamixel not writeable\n"); } wait_ms(10); pc.printf("\n Status packet:\n"); while ( m_link.readable() ) { pc.printf("0x%x\t", m_link.getc()); // Read status packet if available } }