Dan Gongora / Dynamixel

mbed to Dynamixel servo communication.

Dependents:   dynamixel_wheel_test

Dynamixel.h@6:edba46e8f8b4, 2015-10-25 (annotated)

Committer:
dmgongora
Date:
Sun Oct 25 02:15:04 2015 +0000
Revision:
6:edba46e8f8b4
Parent:
5:7e661fef9c66 
Added function to set the rotation mode: Wheel, Joint, Multi-turn

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 5:7e661fef9c66 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 5:7e661fef9c66 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 6:edba46e8f8b4 32 const unsigned char ADDRESS_CW_ANGLE_LIMIT = 0x06;
dmgongora 6:edba46e8f8b4 33 const unsigned char ADDRESS_CCW_ANGLE_LIMIT = 0x08;
dmgongora 0:fb8a2d249639 34
dmgongora 0:fb8a2d249639 35 class Dynamixel
dmgongora 0:fb8a2d249639 36 {
dmgongora 0:fb8a2d249639 37 public:
dmgongora 0:fb8a2d249639 38 Dynamixel(PinName tx, PinName rx, PinName txEnable, uint8_t motorID, int baudrate);
dmgongora 1:ce081666d225 39 uint8_t ping();
dmgongora 1:ce081666d225 40 uint8_t toggleLED(uint8_t ledState);
dmgongora 1:ce081666d225 41 uint8_t move(uint16_t position);
dmgongora 6:edba46e8f8b4 42 uint8_t setAngleLimit(uint16_t mode, uint8_t address);
dmgongora 1:ce081666d225 43 uint8_t setSpeed(uint16_t speed);
dmgongora 3:61785d105315 44 uint8_t setReturnDelayTime(uint16_t speed);
dmgongora 3:61785d105315 45 uint8_t getReturnDelayTime();
dmgongora 0:fb8a2d249639 46 private:
dmgongora 0:fb8a2d249639 47 Serial m_link;
dmgongora 0:fb8a2d249639 48 DigitalOut m_txEnable;
dmgongora 0:fb8a2d249639 49 uint8_t m_motorID;
dmgongora 0:fb8a2d249639 50 const int m_baudrate;
dmgongora 0:fb8a2d249639 51 };
dmgongora 0:fb8a2d249639 52 #endif