hisyam fs
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Test_all
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Dependencies: mbed ADS1115 StepperMotor SRF05 TPA81new
Revision 2:0ed32411598c, committed 2015-08-19
- Comitter:
- dmgongora
- Date:
- Wed Aug 19 05:40:21 2015 +0000
- Parent:
- 1:ef90d942ce78
- Child:
- 3:e5577be2fe70
- Commit message:
- Dynamixel files packed into a library
Changed in this revision
--- a/Dynamixel.cpp Wed Aug 19 05:36:55 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,154 +0,0 @@
-#include "Dynamixel.h"
-#include "mbed.h"
-
-Serial pc(USBTX, USBRX);
-
-Dynamixel::Dynamixel(PinName tx, PinName rx, PinName txEnable, uint8_t motorID, int baudrate) : m_link(tx, rx), m_txEnable(txEnable), m_motorID(motorID), m_baudrate(baudrate)
-{
- m_link.baud(m_baudrate);
-}
-
-void Dynamixel::ping()
-{
- uint8_t elements = 6;
- uint8_t packetBuffer[elements];
- if (m_link.writeable() ) {
- packetBuffer[0] = 0xff;
- packetBuffer[1] = 0xff;
- packetBuffer[2] = m_motorID; // ID
- packetBuffer[3] = 0x02; // Length
- packetBuffer[4] = PING; // Instruction
- packetBuffer[5] = ~(packetBuffer[2] + packetBuffer[3] + packetBuffer[4]) & 0xFF; // Check sum
-
- pc.printf("\n Instruction packet:\n");
- for (int i = 0; i<= elements; i++) {
- pc.printf("0x%x\t", packetBuffer[i]);
- }
-
- m_txEnable = 1; // Enable Tx / Disable Rx
- for (int i = 0; i<= elements; i++) {
- m_link.putc(packetBuffer[i]);
- }
- wait_ms(1); // fix this!!!
- m_txEnable = 0; // Disable Tx / Enable Rx
- } else {
- pc.printf("Dynamixel not writeable\n");
- }
- //pc.baud(9600);
- wait_ms(10);
- pc.printf("\n Status packet:\n");
- while ( m_link.readable() ) {
- pc.printf("0x%x\t", m_link.getc()); // Read status packet if available
- }
- pc.printf("\n PING: Done.\n");
-}
-
-void Dynamixel::toggleLED(uint8_t ledState)
-{
- uint8_t elements = 8;
- uint8_t packetBuffer[elements];
- if (m_link.writeable() ) {
- packetBuffer[0] = 0xff;
- packetBuffer[1] = 0xff;
- packetBuffer[2] = m_motorID; // ID
- packetBuffer[3] = 0x04; // Length
- packetBuffer[4] = WRITE_DATA; // Instruction
- packetBuffer[5] = ADDRESS_LED; // Parameter 1: Starting address
- packetBuffer[6] = ledState; // Parameter 2: First value to be writen
- packetBuffer[7] = ~(packetBuffer[2] + packetBuffer[3] + packetBuffer[4] + packetBuffer[5] + packetBuffer[6]) & 0xFF; // Check sum
-
- m_txEnable = 1; // Enable Tx / Disable Rx
- for (int i = 0; i<= elements; i++) {
- m_link.putc(packetBuffer[i]);
- }
- wait_ms(2); // fix this!!!
- m_txEnable = 0; // Disable Tx / Enable Rx
- } else {
- //pc.printf("Dynamixel not writeable\n");
- }
- wait_ms(10);
- pc.printf("\n Status packet:\n");
- while ( m_link.readable() ) {
- pc.printf("0x%x\t", m_link.getc()); // Read status packet if available
- }
-}
-
-void Dynamixel::move(uint16_t position)
-{
- // 0 to 1023 (0x3FF)
- uint8_t elements = 9;
- uint8_t packetBuffer[elements];
- uint16_t checkSum = 0;
- if (m_link.writeable() ) {
- packetBuffer[0] = 0xff;
- packetBuffer[1] = 0xff;
- packetBuffer[2] = m_motorID; // ID
- packetBuffer[3] = 0x05; // Length
- packetBuffer[4] = WRITE_DATA; // Instruction
- packetBuffer[5] = ADDRESS_GOAL_POSITION; // Parameter 1: Starting address
- packetBuffer[6] = (uint8_t) position & 0xff; // Parameter 2: First value to be writen
- packetBuffer[7] = (uint8_t) (position >> 8); // Parameter 3: Second value to be writen
- checkSum = packetBuffer[2] + packetBuffer[3] + packetBuffer[4] + packetBuffer[5] + packetBuffer[6] + packetBuffer[7];
- packetBuffer[8] = (uint8_t) (~checkSum & 0xff); // Check sum
-
- /*
- for (int i = 0; i<= elements; i++) {
- pc.printf("%c ", packetBuffer[i]);
- }
- pc.printf("\n");
- */
- m_txEnable = 1; // Enable Tx / Disable Rx
- for (int i = 0; i<= elements; i++) {
- m_link.putc(packetBuffer[i]);
- }
- wait_ms(2); // fix this!!!
- m_txEnable = 0; // Disable Tx / Enable Rx
- } else {
- //pc.printf("Dynamixel not writeable\n");
- }
- wait_ms(10);
- pc.printf("\n Status packet:\n");
- while ( m_link.readable() ) {
- pc.printf("0x%x\t", m_link.getc()); // Read status packet if available
- }
-}
-
-void Dynamixel::setSpeed(uint16_t speed)
-{
- // 0 to 1023 (0x3FF)
- uint8_t elements = 9;
- uint8_t packetBuffer[elements];
- uint16_t checkSum = 0;
- if (m_link.writeable() ) {
- packetBuffer[0] = 0xff;
- packetBuffer[1] = 0xff;
- packetBuffer[2] = m_motorID; // ID
- packetBuffer[3] = 0x05; // Length
- packetBuffer[4] = WRITE_DATA; // Instruction
- packetBuffer[5] = ADDRESS_MOVING_SPEED; // Parameter 1: Starting address
- packetBuffer[6] = (uint8_t) speed & 0xff; // Parameter 2: First value to be writen
- packetBuffer[7] = (uint8_t) (speed >> 8); // Parameter 3: Second value to be writen
- checkSum = packetBuffer[2] + packetBuffer[3] + packetBuffer[4] + packetBuffer[5] + packetBuffer[6] + packetBuffer[7];
- packetBuffer[8] = (uint8_t) (~checkSum & 0xff); // Check sum
-
- /*
- for (int i = 0; i<= elements; i++) {
- pc.printf("%c ", packetBuffer[i]);
- }
- pc.printf("\n");
- */
- m_txEnable = 1; // Enable Tx / Disable Rx
- for (int i = 0; i<= elements; i++) {
- m_link.putc(packetBuffer[i]);
- }
- wait_ms(2); // fix this!!!
- m_txEnable = 0; // Disable Tx / Enable Rx
- } else {
- //pc.printf("Dynamixel not writeable\n");
- }
- wait_ms(10);
- pc.printf("\n Status packet:\n");
- while ( m_link.readable() ) {
- pc.printf("0x%x\t", m_link.getc()); // Read status packet if available
- }
-}
\ No newline at end of file
--- a/Dynamixel.h Wed Aug 19 05:36:55 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,33 +0,0 @@
-#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
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Dynamixel.lib Wed Aug 19 05:40:21 2015 +0000 @@ -0,0 +1,1 @@ +Dynamixel#fb8a2d249639