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Dependencies:   mbed ADS1115 StepperMotor SRF05 TPA81new

Dynamixel.h@0:79e2a8171b16, 2015-08-18 (annotated)

Committer:
dmgongora
Date:
Tue Aug 18 09:15:09 2015 +0000
Revision:
0:79e2a8171b16
Child:
1:ef90d942ce78
First working version of the Dynamixel class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dmgongora 0:79e2a8171b16 1 #ifndef DEF_DYNAMIXEL
dmgongora 0:79e2a8171b16 2 #define DEF_DYNAMIXEL
dmgongora 0:79e2a8171b16 3
dmgongora 0:79e2a8171b16 4 #include "mbed.h"
dmgongora 0:79e2a8171b16 5 // Instruction set
dmgongora 0:79e2a8171b16 6 const unsigned char PING = 0x01;
dmgongora 0:79e2a8171b16 7 const unsigned char READ_DATA = 0x02;
dmgongora 0:79e2a8171b16 8 const unsigned char WRITE_DATA = 0x03;
dmgongora 0:79e2a8171b16 9 const unsigned char REG_WRITE = 0x04;
dmgongora 0:79e2a8171b16 10 const unsigned char ACTION = 0x05;
dmgongora 0:79e2a8171b16 11 const unsigned char RESET = 0x06;
dmgongora 0:79e2a8171b16 12 const unsigned char SYNC_WRITE = 0x83;
dmgongora 0:79e2a8171b16 13 // Control table
dmgongora 0:79e2a8171b16 14 const unsigned char ADDRESS_PRESENT_TEMPERATURE = 0x2B;
dmgongora 0:79e2a8171b16 15 const unsigned char ADDRESS_GOAL_POSITION = 0x1E;
dmgongora 0:79e2a8171b16 16 const unsigned char ADDRESS_LED = 0x19;
dmgongora 0:79e2a8171b16 17
dmgongora 0:79e2a8171b16 18 class Dynamixel
dmgongora 0:79e2a8171b16 19 {
dmgongora 0:79e2a8171b16 20 public:
dmgongora 0:79e2a8171b16 21 Dynamixel(PinName tx, PinName rx, PinName txEnable, uint8_t motorID, int baudrate);
dmgongora 0:79e2a8171b16 22 void ping();
dmgongora 0:79e2a8171b16 23 void toggleLED(uint8_t ledState);
dmgongora 0:79e2a8171b16 24 void move(uint16_t position);
dmgongora 0:79e2a8171b16 25 private:
dmgongora 0:79e2a8171b16 26 Serial m_link;
dmgongora 0:79e2a8171b16 27 DigitalOut m_txEnable;
dmgongora 0:79e2a8171b16 28 uint8_t m_motorID;
dmgongora 0:79e2a8171b16 29 const int m_baudrate;
dmgongora 0:79e2a8171b16 30 };
dmgongora 0:79e2a8171b16 31 #endif