Diff: AX12/AX12.h

Revision:

12:1e3227a6fcd7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12/AX12.h	Sun Dec 16 01:53:07 2018 +0000
@@ -0,0 +1,240 @@
+/* mbed AX-12+ Servo Library
+ *
+ * Copyright (c) 2010, cstyles (http://mbed.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_AX12_H
+#define MBED_AX12_H
+
+#include "mbed.h"
+
+#define AX12_REG_ID 0x3
+#define AX12_REG_BAUD 0x4
+#define AX12_REG_CW_LIMIT 0x06
+#define AX12_REG_CCW_LIMIT 0x08
+#define AX12_REG_GOAL_POSITION 0x1E
+#define AX12_REG_MOVING_SPEED 0x20
+#define AX12_REG_VOLTS 0x2A
+#define AX12_REG_TEMP 0x2B
+#define AX12_REG_MOVING 0x2E
+#define AX12_REG_POSITION 0x24
+#define AX12_TORQUE_ENABLE 0x18
+
+#define AX12_MODE_POSITION  0
+#define AX12_MODE_ROTATION  1
+
+#define AX12_CW 1
+#define AX12_CCW 0
+
+/** Servo control class for AX12 and other compatible Dynamixel servo
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "AX12.h"
+ * 
+ * int main() {
+ *   // The controlled servo has ID = 1
+ *   // Connected to pin p9 as TX and p10 as RX
+ *   // p11 used as toggle between TX and RX mode
+ *   // The baudrate used to communicate with servo is 1 000 000
+ *   AX12 myax12 (p9, p10, p11, 1, 1000000);
+ *
+ *   while (1) {
+ *       myax12.SetGoal(0);    // go to 0 degrees
+ *       wait (2.0);
+ *       myax12.SetGoal(300);  // go to 300 degrees
+ *       wait (2.0);
+ *   }
+ * }
+ * @endcode
+ */
+class AX12 {
+
+public:
+
+    /** Create an AX12 servo object connected to the specified serial port, with the specified ID
+     *
+     * @param pin tx pin
+     * @param pin rx pin
+     * @param pin tx enable, to switch between tx and rx
+     * @param int ID, the Bus ID of the servo 1-255
+     * @param int baud, the baudrate of the servo
+     */
+    AX12(PinName tx, PinName rx, PinName tx_ena, int ID, int baud);
+
+    /** Set the mode of the servo
+     * @param mode
+     *    0 = Positional, default
+     *    1 = Continuous rotation
+     */
+    int SetMode(int mode);
+
+    /** Set baud rate of all attached servos
+     * @param mode
+     *    0x01 = 1,000,000 bps
+     *    0x03 =   500,000 bps
+     *    0x04 =   400,000 bps
+     *    0x07 =   250,000 bps
+     *    0x09 =   200,000 bps
+     *    0x10 =   115,200 bps
+     *    0x22 =    57,600 bps
+     *    0x67 =    19,200 bps
+     *    0xCF =     9,600 bp
+     */
+    int SetBaud(int baud);
+
+    /** Set goal angle in integer degrees, in positional mode
+     *
+     * @param degrees 0-300
+     * @param flags, defaults to 0
+     *    flags[0] = blocking, return when goal position reached 
+     *    flags[1] = register, activate with a broadcast trigger
+     *
+     */
+    int SetGoal(int degrees, int flags = 0);
+
+    /** Set the position and speed of 18 servo from ID 1-18 at the same time
+     *
+     * @param degrees1..18 The position of servo with ID 1..18
+     * @param speed1..18 The speed of servo with ID 1..18
+     *
+     */
+    void MultSetGoal(int degrees1, float speed1, 
+                        int degrees2, float speed2, 
+                        int degrees3, float speed3, 
+                        int degrees4, float speed4, 
+                        int degrees5, float speed5, 
+                        int degrees6, float speed6, 
+                        int degrees7, float speed7, 
+                        int degrees8, float speed8, 
+                        int degrees9, float speed9, 
+                        int degrees10, float speed10, 
+                        int degrees11, float speed11,
+                        int degrees12, float speed12, 
+                        int degrees13, float speed13, 
+                        int degrees14, float speed14, 
+                        int degrees15, float speed15, 
+                        int degrees16, float speed16, 
+                        int degrees17, float speed17, 
+                        int degrees18, float speed18);
+
+    /** Set the speed of the servo in continuous rotation mode
+     *
+     * @param speed, -1.0 to 1.0
+     *   -1.0 = full speed counter clock wise
+     *    1.0 = full speed clock wise
+     */
+    int SetCRSpeed(float speed);
+
+    /** Set the clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
+    int SetCWLimit(int degrees);
+    
+    /** Set the counter-clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
+    int SetCCWLimit(int degrees);
+    
+    /** Change the ID of a servo controlled
+     *
+     * @param ID 1-255
+     *
+     * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
+     * In this situation, only one servo should be connected to the bus
+     */
+    void ControlID (int ID); 
+
+    /** Change the ID of a servo
+     *
+     * @param CurentID 0-253
+     * @param NewID 0-253
+     *
+     * If a servo ID is not know, the broadcast address of 254 (0xFE) can be used for CurrentID.
+     * In this situation, only one servo should be connected to the bus
+     */
+    int SetID(int CurrentID, int NewID);
+
+
+    /** Poll to see if the servo is moving
+     *
+     * @returns true is the servo is moving
+     */
+    int isMoving(void);
+
+
+    /** Send the broadcast "trigger" command, to activate any outstanding registered commands
+     */
+    void trigger(void);
+
+
+    /** Read the current angle of the servo
+     *
+     * @returns float in the range 0.0-300.0
+     */
+    float GetPosition();
+
+
+    /** Read the temperature of the servo
+     *
+     * @returns float temperature 
+     */
+    float GetTemp(void);
+
+
+    /** Read the supply voltage of the servo
+     *
+     * @returns float voltage
+     */
+    float GetVolts(void);
+    
+    /** Set torque enable of the servo
+    */
+    void SetTorqueEnable(char val);
+
+    int read(int ID, int start, int length, char* data);
+
+    int write(int ID, int start, int length, char* data, int flag=0);
+
+    int sync_write(char* data); 
+
+private :
+
+    Serial _ax12;
+    DigitalOut _ena_tx;
+    char TxBuf[10];
+    char Status[10];
+    static const char start_reg = 0x1E;
+    static const char length_data = 4;
+    static const char total_ID = 18;
+    int _ID;
+    int _baud_bit;
+    int _wait_sent;
+    int _timeout_tick;
+    int _error_code;
+    char _data[2];
+    char _reg_flag;
+};
+
+#endif