Diff: herkulex.h

Revision:

6:1dacff31b77a

Parent:

5:f737e5c70115

Child:

7:0d98883391a2

--- a/herkulex.h	Mon Jan 14 16:24:05 2013 +0000
+++ b/herkulex.h	Mon Jan 14 21:03:43 2013 +0000
@@ -144,8 +144,7 @@
 
 //------------------------------------------------------------------------------
 // ACK Packet [To Controller(ACK)]
-#define CMD_ACK_MASK   0x40    // ACK Packet CMD is Request Packet CMD + 0x40
-
+#define CMD_ACK_MASK   0x40 // ACK Packet CMD is Request Packet CMD + 0x40
 #define CMD_EEP_WRITE_ACK   (CMD_EEP_WRITE|CMD_ACK_MASK)
 #define CMD_EEP_READ_ACK    (CMD_EEP_READ|CMD_ACK_MASK)
 #define CMD_RAM_WRITE_ACK   (CMD_RAM_WRITE|CMD_ACK_MASK)
@@ -157,6 +156,27 @@
 #define CMD_REBOOT_ACK      (CMD_REBOOT|CMD_ACK_MASK)
 
 //------------------------------------------------------------------------------
+// Status Error
+#define STATUS_OK                       = 0x00;
+#define ERROR_EXCEED_INPUT_VOLTAGE      = 0x01;
+#define ERROR_EXCEED_POT_LIMIT          = 0x02;
+#define ERROR_EXCEED_TEMPERATURE_LIMIT  = 0x04;
+#define ERROR_INVALID_PACKET            = 0x08;
+#define ERROR_OVERLOAD                  = 0x10;
+#define ERROR_DRIVER_FAULT              = 0x20;
+#define ERROR_EEP_REG_DISTORT           = 0x40;
+
+//------------------------------------------------------------------------------
+// Status Detail
+#define MOVING_FLAG                     = 0x01;
+#define INPOSITION_FLAG                 = 0x02;
+#define CHECKSUM_ERROR                  = 0x04; // Invalid packet`s detailed information
+#define UNKNOWN_COMMAND                 = 0x08; // Invalid packet`s detailed information
+#define EXCEED_REG_RANGE                = 0x10; // Invalid packet`s detailed information
+#define GARBAGE_DETECTED                = 0x20; // Invalid packet`s detailed information
+#define MOTOR_ON_FLAG                   = 0x40;
+
+//------------------------------------------------------------------------------
 // Header
 #define HEADER                              0xFF
 
@@ -245,6 +265,13 @@
      */  
     void txPacket(uint8_t packetSize, uint8_t* data);
     
+    /** Receive packet datas
+     *        
+     * @param packetSize The packet size.
+     * @param data The receive packet data array.
+     */ 
+    void rxPacket(uint8_t packetSize, uint8_t* data);
+    
     /** Clear error status
      *        
      * @param id The herkulex servo ID.
@@ -254,27 +281,40 @@
     /** Set torque setting
      *        
      * @param id The herkulex servo ID.
-     * @param cmdTorue The Command for setting of torque (TORQUE_FREE 0x00,BREAK_ON 0x40, TORQUE_ON 0x60)
+     * @param cmdTorue The Command for setting of torque (TORQUE_FREE 0x00, BREAK_ON 0x40, TORQUE_ON 0x60)
      */      
     void setTorque(uint8_t id, uint8_t cmdTorue);
     
-    /** move position
+    /** Position Control
      *        
      * @param id The herkulex servo ID.
      * @param position The goal position of herkulex servo.
      * @param playtime Time to target position.
-     * @param setLED Select LED and on/off controll (SET_LED_GREEN_ON 0x00,SET_LED_BLUE_ON 0x08, SET_LED_RED_ON 0x10)
+     * @param setLED Select LED and on/off controll (GLED_ON 0x00,BLED_ON 0x08, RLED_ON 0x10)
      */          
-    void movePos(uint8_t id, uint16_t position, uint8_t playtime, uint8_t setLED);
+    void positionControl(uint8_t id, uint16_t position, uint8_t playtime, uint8_t setLED);
 
-    /** turn
+    /** Velocity Control
      *        
      * @param id The herkulex servo ID.
      * @param speed The goal position of herkulex servo.
-     * @param setLED Select LED and on/off controll (SET_LED_GREEN_ON 0x00,SET_LED_BLUE_ON 0x08, SET_LED_RED_ON 0x10)
+     * @param setLED Select LED and on/off controll (GLED_ON 0x00,BLED_ON 0x08, RLED_ON 0x10)
      */             
-    void turn(uint8_t id, int16_t speed,uint8_t setLED);
+    void velocityControl(uint8_t id, int16_t speed,uint8_t setLED);
     
+    /** Get Status
+     *        
+     * @param id The herkulex servo ID.
+     * @return -1 is getStatus failed. other is servo`s status error value.
+     */       
+    int8_t getStatus(uint8_t id);
+    
+    /** Get Position
+     *        
+     * @param id The herkulex servo ID.
+     * @return -1 is getPos failed. other is servo's current position.
+     */         
+    int16_t getPos(uint8_t id);
          
 private :