James Hilder
For YRL Robot Arm
Diff: servo.h
- Revision:
- 0:b14dfd8816da
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/servo.h Fri Mar 03 13:28:54 2017 +0000
@@ -0,0 +1,372 @@
+/* University of York Robotics Laboratory Robot Arm Controller Board
+ *
+ * Dynamixel Servo Library for AX-12 and MX-28
+ *
+ * Based on library by Chris Styles (see copyright notice at end of file)
+ *
+ * File: servo.cpp
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ * James Hilder, Alan Millard, Shuhei Miyashita, Homero Elizondo, Jon Timmis
+ *
+ * February 2017, Version 1.0
+ */
+
+// NOTE:
+// When communicating with 'new' servos the are defaulted to ID 1
+// Make sure only one such servo is connected at one time
+// Also note that this library defaults to 57600 serial comms
+// The MX-28s are defaulted to communicate at this speed but the AX-12s are not (1Mbaud)
+// Use SetInitBaud(57600) to override the default and then change baud rate when setting up MX-28s
+
+#ifndef SERVO_H
+#define SERVO_H
+
+#include "mbed.h"
+#include "SerialHalfDuplex.h"
+
+#define WRITE_DEBUG 0
+#define READ_DEBUG 0
+#define TRIGGER_DEBUG 0
+#define DEBUG 0
+
+// Number of times to retry a read\write operation if read times out
+#define READ_TIMEOUT_LIMIT 3
+
+#define LOW_VOLTAGE_LIMIT 90
+#define HIGH_VOLTAGE_LIMIT 140
+#define HIGH_TEMPERATURE_LIMIT 70
+
+#define AX12_MODEL 0x0C
+#define MX28_MODEL 0x1D
+
+#define RETURN_DELAY 250
+
+#define REG_MODEL_NUMBER 0x00
+#define REG_FIRMWARE_VERSION 0x02
+#define REG_ID 0x03
+#define REG_BAUDRATE 0x04
+#define REG_RETURN_DELAY 0x05
+#define REG_CW_LIMIT 0x06
+#define REG_CCW_LIMIT 0x08
+#define REG_HIGHTEMP_LIMIT 0x0B
+#define REG_LOW_VOLTAGE_LIMIT 0x0C
+#define REG_HIGH_VOLTAGE_LIMIT 0x0D
+#define REG_MAX_TORQUE 0x0E
+#define REG_TORQUE_ENABLE 0x18
+#define REG_GOAL_POSITION 0x1E
+#define REG_MOVING_SPEED 0x20
+#define REG_VOLTS 0x2A
+#define REG_TEMP 0x2B
+#define REG_SPEED 0x26
+#define REG_LOAD 0x28
+#define REG_MOVING 0x2E
+#define REG_POSITION 0x24
+#define REG_EEPROM_LOCK 0x2F
+
+#define MODE_POSITION 0
+#define MODE_ROTATION 1
+
+#define CW 1
+#define CCW 0
+
+extern Serial data;
+
+/** Servo Class
+ * Class with functions to control a Dynamixel single-wire TTL Serial Servo
+ *
+ * Example code for main.cpp:
+ * @code
+ * #include "servo.h"
+ * Servo servo(p9,p10)
+ * int main(){
+ * arm.init();
+ * while(1) { //Do something!
+ * }
+ * }
+ * @endcode
+ */
+class Servo {
+
+public:
+
+ /** Create a Dynamixel servo controller object connected to the specified serial port, with the specified ID
+ *
+ * @param pin tx pin
+ * @param pin rx pin
+ */
+ Servo(PinName tx, PinName rx);
+
+ void ClearBuffer(void);
+
+ void ScanForServos(void);
+
+
+ /** Prints (over PC serial) a detailed set of data for the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ */
+ void DebugData(int ID);
+
+ /** Set the mode of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param mode
+ * 0 = Positional, default
+ * 1 = Continuous rotation
+ */
+ int SetMode(int ID, int mode);
+
+ /** Set goal angle, in positional mode
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param goal 0-4095
+ * @param flags, defaults to 0
+ * flags[0] = blocking, return when goal position reached
+ * flags[1] = register, activate with a broadcast trigger
+ *
+ */
+ int SetGoal(int ID, short goal, int flags = 0);
+
+ /** Set goal angle in integer degrees, in positional mode
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @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 SetGoalDegrees(int ID, int degrees, int flags = 0);
+
+
+ /** Set the speed of the servo in continuous rotation mode
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param speed, -1.0 to 1.0
+ * -1.0 = full speed counter clock wise
+ * 1.0 = full speed clock wise
+ */
+ int SetCRSpeed(int ID, float speed);
+
+
+ /** Set the clockwise limit of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param degrees, 0-300
+ */
+ int SetCWLimit(int ID, int degrees);
+
+ /** Set the counter-clockwise limit of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param degrees, 0-300
+ */
+ int SetCCWLimit(int ID, int degrees);
+
+ /** Enable or disable the torque hold of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param enable, 0=disable (floppy) 1=enable (hold)
+ */
+ int SetTorqueEnable (int ID, int enable);
+
+
+ /** Change the low voltage limit of a servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param lv_limit, 0-254
+ *
+ * voltage = lv_limit / 10
+ */
+ int SetLowVoltageLimit (int ID, char lv_limit);
+
+ /** Lock the EEPROM area of a servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ */
+ int LockEeprom(int ID);
+
+ /** Change the high voltage limit of a servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param hv_limit, 0-254
+ *
+ * voltage = hv_limit / 10
+ */
+ int SetHighVoltageLimit (int ID, char hv_limit);
+
+ /** Change the delay time of a servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param delay, 0-254 C
+ *
+ */
+ int SetDelayTime (int ID, char delay);
+
+ /** Change the high temperature limit of a servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param temp_limit, 0-254 C
+ *
+ */
+ int SetTemperatureLimit (int ID, char temp_limit);
+
+ /** Change the ID of a servo
+ *
+ * @param CurentID 1-255
+ * @param NewID 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
+ */
+ int SetID(int CurrentID, int NewID);
+
+ /** Change the baud of a servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @param baud, 0-252
+ *
+ * baudrate = 2000000/baud (with special cases 250=2.25Mbps, 251=2.5Mbps and 252=3Mbps on MX-28 only)
+ */
+ int SetBaud (int ID, int baud);
+
+ /** Poll to see if the servo is moving
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @returns true is the servo is moving
+ */
+ int isMoving(int ID);
+
+ /** Send the broadcast "trigger" command, to activate any outstanding registered commands
+ */
+ void trigger(void);
+
+ /** Read the model number of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @returns int matching defined model number
+ */
+ int GetModelNumber(int ID);
+
+ /** Read the current angle of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @returns float in the range 0.0-300.0
+ */
+ float GetPositionDegrees(int ID);
+
+
+ /** Read the raw angle reading of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @returns short in the range 0 - 4095 for MX-28
+ */
+ short GetPosition(int ID);
+
+
+ /** Read the temperature of the servo
+ *
+ * @returns float temperature
+ */
+ float GetTemp(int ID);
+
+ /** Read the supply voltage of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @returns short voltage * 10
+ */
+ short GetVoltage(int ID) ;
+
+ /** Read the supply voltage of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @returns float voltage
+ */
+ float GetVolts(int ID);
+
+ /** Read the temperature of the servo
+ *
+ * @returns short temperature
+ */
+ short GetTemperature(int ID);
+
+ /** Read the torque load of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @returns short load, range 0-2048, 0 is 100% CCW, 1024 is zero and 2048 is 100% CW
+ */
+ short GetLoad(int ID) ;
+
+ /** Read the speed of the servo
+ *
+ * @param ID, the Bus ID of the servo 1-255
+ * @returns short speed
+ */
+ short GetSpeed(int ID) ;
+
+ /** Change the internal baud rate to something other than 1000000 (note MX-28s default to 57600)
+ *
+ * @param baud, the baud rate to set
+ * @param delaytime, the delay time to set (x2 us)
+ */
+ void SetInitBaud(int baud, int delaytime);
+
+ /** Returns the software lower limit for the given servo
+ *
+ * @param ID, the servo ID to return the limit for
+ * @returns short limit (either preset value or 0)
+ */
+ short GetLowerLimit(int ID);
+
+ /** Returns the software upper limit for the given servo
+ *
+ * @param ID, the servo ID to return the limit for
+ * @returns short limit (either preset value or 4095)
+ */
+ short GetUpperLimit(int ID);
+
+
+private :
+ SerialHalfDuplex _servo;
+ int read(int ID, int start, int length, char* data);
+ int write(int ID, int start, int length, char* data, int flag=0);
+
+};
+
+
+
+#endif
+
+/*
+ * Copyright 2017 University of York
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
+ * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and limitations under the License.
+ *
+ */
+
+/*
+ * Copyright (c) 2010, Chris Styles (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.
+ */
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