mbed to Dynamixel servo communication.
Dependents: dynamixel_wheel_test
Dynamixel.h
- Committer:
- dmgongora
- Date:
- 2015-08-19
- Revision:
- 0:fb8a2d249639
- Child:
- 1:ce081666d225
File content as of revision 0:fb8a2d249639:
#ifndef DEF_DYNAMIXEL #define DEF_DYNAMIXEL #include "mbed.h" // Instruction set const unsigned char PING = 0x01; const unsigned char READ_DATA = 0x02; const unsigned char WRITE_DATA = 0x03; const unsigned char REG_WRITE = 0x04; const unsigned char ACTION = 0x05; const unsigned char RESET = 0x06; const unsigned char SYNC_WRITE = 0x83; // Control table const unsigned char ADDRESS_PRESENT_TEMPERATURE = 0x2B; const unsigned char ADDRESS_GOAL_POSITION = 0x1E; const unsigned char ADDRESS_LED = 0x19; const unsigned char ADDRESS_MOVING_SPEED = 0x20; class Dynamixel { public: Dynamixel(PinName tx, PinName rx, PinName txEnable, uint8_t motorID, int baudrate); void ping(); void toggleLED(uint8_t ledState); void move(uint16_t position); void setSpeed(uint16_t speed); private: Serial m_link; DigitalOut m_txEnable; uint8_t m_motorID; const int m_baudrate; }; #endif