James Hilder
For YRL Robot Arm
servo.cpp
- Committer:
- jah128
- Date:
- 2017-03-03
- Revision:
- 0:b14dfd8816da
File content as of revision 0:b14dfd8816da:
/* 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
*/
#include "robotarm.h"
int delay = RETURN_DELAY;
char read_timeout_counter = 0;
Servo::Servo(PinName tx, PinName rx)
: _servo(tx,rx)
{
_servo.baud(57600);
}
void Servo::ClearBuffer()
{
if (_servo.readable()) {
pc.printf("\nBuffer error:");
while(_servo.readable()) {
pc.printf("%c",_servo.getc());
}
pc.printf("\n");
}
}
void Servo::ScanForServos ()
{
pc.printf("SCANNING FOR ServoS...\n");
pc.printf("Checking at 57600 baud\n");
_servo.baud(57600);
delay = 250;
for(int k=0; k<2; k++) {
if(k==1) {
_servo.baud(1000000);
pc.printf("\nChecking at 1000000 baud\n");
}
for(int id = 0; id<254; id++) {
//pc.printf("ID %d: ",id);
char TxBuf[8];
TxBuf[0] = 0xff;
TxBuf[1] = 0xff;
TxBuf[2] = id;
char sum = id + 7;
TxBuf[3] = 4;
TxBuf[4] = 2;
TxBuf[5] = REG_MODEL_NUMBER;
TxBuf[6] = 1;
TxBuf[7] = 0xFF - sum;
for (int i = 0; i<8 ; i++) {
_servo.putc(TxBuf[i]);
}
// Wait for data to transmit
int t_delay = 60;
wait_us(t_delay);
if(_servo.readable()) {
pc.printf("ID %d: ",id);
// Receive the Status packet 6+ number of bytes read
char status[8];
for (int i=0; i<(7) ; i++) {
status[i] = _servo.getc();
}
if(status[2] == id) {
pc.printf(" FOUND [");
char modelnumber = status[5];
switch(modelnumber) {
case (AX12_MODEL):
pc.printf("AX12]\n");
break;
case (MX28_MODEL):
pc.printf("MX28]\n");
break;
default:
pc.printf("UNKNOWN MODEL]\n");
break;
}
} else pc.printf(" ID ERROR\n");
} else {
//pc.printf(" NOT FOUND\n");
}
}
}
pc.printf("\nScan complete.\n");
delay = RETURN_DELAY;
}
// Get the soft lower limit for servo
short Servo::GetLowerLimit(int ID)
{
if(USE_SOFT_LIMITS==1){
switch(ID){
case BASE: return BASE_LIMIT_LOW;
case SHOULDER: return SHOULDER_LIMIT_LOW;
case ELBOW: return ELBOW_LIMIT_LOW;
//case WRIST: return WRIST_LIMIT_LOW;
}
}
return 0;
}
// Get the soft upper limit for servo
short Servo::GetUpperLimit(int ID)
{
if(USE_SOFT_LIMITS==1){
switch(ID){
case BASE: return BASE_LIMIT_HIGH;
case SHOULDER: return SHOULDER_LIMIT_HIGH;
case ELBOW: return ELBOW_LIMIT_HIGH;
// case WRIST: return WRIST_LIMIT_HIGH;
}
}
return 4095;
}
// Get detailed data for servo
void Servo::DebugData(int ID)
{
pc.printf("\nGetting Current Data for Servo %d",ID);
char data[49];
for(int i=0; i<12; i++) {
int offset = i*4;
int ErrorCode = read(ID, offset, 4, data+offset);
pc.printf(".");
}
pc.printf("\n");
pc.printf("\nEEPROM VALUES\n");
int modelnumber = data[0] + (data[1] << 8);
pc.printf("Model Number : %x [",modelnumber);
switch(modelnumber) {
case (AX12_MODEL):
pc.printf("AX12]\n");
break;
case (MX28_MODEL):
pc.printf("MX28]\n");
break;
default:
pc.printf("UNKNOWN]\n");
break;
}
pc.printf("Firmware Version : %x\n",data[2]);
pc.printf("ID : %x\n",data[3]);
int baudrate = 2000000 / (data[4] + 1);
//Special high-speed baudrates [for MX28 only]
if(data[4] == 250) baudrate = 2250000;
if(data[4] == 251) baudrate = 2500000;
if(data[4] == 252) baudrate = 3000000;
pc.printf("Baud Rate : %x [%d]\n",data[4],baudrate);
pc.printf("Return Delay Time : %x [%duS]\n",data[5],(data[5] * 2));
short cw_angle_limit = data[6] + (data[7] << 8);
short ccw_angle_limit = data[8] + (data[9] << 8);
pc.printf("CW Angle Limit : %x [%d",cw_angle_limit,cw_angle_limit);
if(cw_angle_limit ==0 && ccw_angle_limit == 0)pc.printf(" - Wheel Mode]\n");
else {
if(cw_angle_limit == 4095 && ccw_angle_limit == 4095)pc.printf(" - Multiturn Mode]\n");
else pc.printf("- Joint Mode]\n");
}
pc.printf("CCW Angle Limit : %x [%d",ccw_angle_limit,ccw_angle_limit);
if(cw_angle_limit ==0 && ccw_angle_limit == 0)pc.printf(" - Wheel Mode]\n");
else {
if(cw_angle_limit == 4095 && ccw_angle_limit == 4095)pc.printf(" - Multiturn Mode]\n");
else pc.printf("- Joint Mode]\n");
}
//Fill in blanks
pc.printf("High Temp Limit : %x [%dC]\n",data[11],data[11]);
pc.printf("Low Voltage Limit : %x [%2.1fV]\n",data[12],(float) (data[12]*0.1f));
pc.printf("High Voltage Limit: %x [%2.1fV]\n",data[13],(float) (data[13]*0.1f));
short max_torque = data[14] + (data[15] << 8);
float pct_max_torque = (float) (max_torque / 10.23f);
pc.printf("Preset Max Torque : %x [%3.2f%%]\n",max_torque,pct_max_torque);
pc.printf("Status Return Lev.: %x [%d]\n",data[16]);
pc.printf("Alarm LED : %x [%d]\n",data[17]);
pc.printf("Alarm Shutdown : %x [%d]\n",data[18]);
short multiturn_offset = data[20] + (data[21] << 8);
pc.printf("Multiturn Offset : %x [%d]\n",multiturn_offset,multiturn_offset);
pc.printf("\nRAM VALUES\n");
pc.printf("Torque Enable : %x\n",data[24]);
pc.printf("LED : %x\n",data[25]);
pc.printf("D Gain : %x [%d]\n",data[26],data[26]);
pc.printf("I Gain : %x [%d]\n",data[27],data[27]);
pc.printf("P Gain : %x [%d]\n",data[28],data[28]);
short goal_position = data[30] + (data[31] << 8);
float gp_degrees = (goal_position - 2048) * 0.087890625;
pc.printf("Goal Position : %x [%d: %3.2f degrees]\n",goal_position,goal_position,gp_degrees);
short moving_speed = data[32] + (data[33] << 8);
float mv_rpm = moving_speed * 0.114;
pc.printf("Moving Speed : %x [%d: %4.2 rpm]\n",moving_speed,moving_speed,mv_rpm);
short c_max_torque = data[34] + (data[35] << 8);
float cpct_max_torque = (float) (c_max_torque / 10.23f);
pc.printf("Current Max Torque: %x [%3.2f%%]\n",c_max_torque,cpct_max_torque);
short present_position = data[36] + (data[37] << 8);
float pp_degrees = present_position * 0.088f;
pc.printf("Present Position : %x [%d: %3.2f degrees]\n",present_position,present_position,pp_degrees);
short present_speed = data[38] + (data[39] << 8);
float p_rpm = present_speed * 0.114;
pc.printf("Present Speed : %x [%d: %4.2 rpm]\n",present_speed,present_speed,p_rpm);
short present_load = data[40] + (data[41] << 8);
if(present_load < 1024) {
float present_loadpct = (1024 - present_load) / 10.23f;
pc.printf("Present Load : %x [%3.2f%% CCW]\n",present_load,present_loadpct);
} else {
if(present_load > 1024) {
float present_loadpct_cw = (present_load - 1024) / 10.23f;
pc.printf("Present Load : %x [%3.2f%% CW]\n",present_load,present_loadpct_cw);
} else pc.printf("Present Load : %x [NONE]\n",present_load);
}
pc.printf("Voltage : %x [%fV]\n",data[42],(data[42] * 0.1f));
pc.printf("Temperature : %x [%dC]\n",data[43],data[43]);
}
// Set the mode of the servo
// 0 = Positional (0-300 degrees)
// 1 = Rotational -1 to 1 speed
int Servo::SetMode(int ID, int mode)
{
if (mode == 1) { // set CR
SetCWLimit(ID, 0);
SetCCWLimit(ID, 0);
SetCRSpeed(ID, 0.0);
} else {
SetCWLimit(ID, 0);
SetCCWLimit(ID, 300);
SetCRSpeed(ID, 0.0);
}
return(0);
}
// if flag[0] is set, were blocking
// if flag[1] is set, we're registering
// they are mutually exclusive operations
int Servo::SetGoal(int ID, short goal, int flags)
{
char reg_flag = 0;
char data[2];
// set the flag is only the register bit is set in the flag
if (flags == 0x2) {
reg_flag = 1;
}
if(GetLowerLimit(ID) > goal){
goal=GetLowerLimit(ID);
if(USE_LIMIT_WARNING == 1){
display.clear_display();
display.set_position(0,0);
display.write_string("RANGE ERROR");
}
}
if(GetUpperLimit(ID) < goal){
goal=GetUpperLimit(ID);
if(USE_LIMIT_WARNING == 1){
display.clear_display();
display.set_position(0,0);
display.write_string("RANGE ERROR");
}
}
if (DEBUG) {
pc.printf("SetGoal to 0x%x ",goal);
}
// Apply inversions if set
switch(ID){
case(BASE):if(INVERT_BASE == 1)goal=4095-goal;break;
case(SHOULDER):if(INVERT_SHOULDER == 1)goal=4095-goal;break;
case(ELBOW):if(INVERT_ELBOW == 1)goal=4095-goal;break;
case(WRIST):if(INVERT_BASE == 1)goal=4095-goal;break;
}
data[0] = goal & 0xff; // bottom 8 bits
data[1] = goal >> 8; // top 8 bits
// write the packet, return the error code
int rVal = write(ID, REG_GOAL_POSITION, 2, data, reg_flag);
if (flags == 1) {
// block until it comes to a halt
if (DEBUG) pc.printf(" [WAITING]");
while (isMoving(ID)) {}
}
if (DEBUG) pc.printf("\n");
return(rVal);
}
// if flag[0] is set, were blocking
// if flag[1] is set, we're registering
// they are mutually exclusive operations
int Servo::SetGoalDegrees(int ID, int degrees, int flags)
{
short goal = (degrees * 11.377778) + 2048;
return SetGoal(ID,goal,flags);
}
// Set continuous rotation speed from -1 to 1
int Servo::SetCRSpeed(int ID, float speed)
{
// bit 10 = direction, 0 = CCW, 1=CW
// bits 9-0 = Speed
char data[2];
int goal = (0x3ff * abs(speed));
// Set direction CW if we have a negative speed
if (speed < 0) {
goal |= (0x1 << 10);
}
data[0] = goal & 0xff; // bottom 8 bits
data[1] = goal >> 8; // top 8 bits
// write the packet, return the error code
int rVal = write(ID, 0x20, 2, data);
return(rVal);
}
int Servo::SetCWLimit (int ID, int degrees)
{
char data[2];
// 1023 / 300 * degrees
short limit = (1023 * degrees) / 300;
if (DEBUG) {
pc.printf("SetCWLimit to 0x%x\n",limit);
}
data[0] = limit & 0xff; // bottom 8 bits
data[1] = limit >> 8; // top 8 bits
// write the packet, return the error code
return (write(ID, REG_CW_LIMIT, 2, data));
}
int Servo::SetCCWLimit (int ID, int degrees)
{
char data[2];
// 1023 / 300 * degrees
short limit = (1023 * degrees) / 300;
if (DEBUG) {
pc.printf("SetCCWLimit to 0x%x\n",limit);
}
data[0] = limit & 0xff; // bottom 8 bits
data[1] = limit >> 8; // top 8 bits
// write the packet, return the error code
return (write(ID, REG_CCW_LIMIT, 2, data));
}
int Servo::SetTorqueEnable (int ID, int enable)
{
char data[1];
data[0]=enable;
if (DEBUG) {
pc.printf("SetTorqueEnable to %d\n",enable);
}
// write the packet, return the error code
return (write(ID, REG_TORQUE_ENABLE, 1, data));
}
int Servo::SetLowVoltageLimit (int ID, char lv_limit)
{
char data[1];
data[0] = lv_limit;
if (DEBUG) {
pc.printf("Setting low voltage limit to %2.1f\n",(float) lv_limit / 10.0);
}
return (write(ID, REG_LOW_VOLTAGE_LIMIT, 1, data));
}
int Servo::LockEeprom (int ID)
{
char data[1];
data[0]=1;
if (DEBUG) {
pc.printf("Locking EEPROM\n");
}
return (write(ID, REG_EEPROM_LOCK, 1, data));
}
int Servo::SetHighVoltageLimit (int ID, char hv_limit)
{
char data[1];
data[0] = hv_limit;
if (DEBUG) {
pc.printf("Setting high voltage limit to %2.1f\n",(float) hv_limit / 10.0);
}
return (write(ID, REG_HIGH_VOLTAGE_LIMIT, 1, data));
}
int Servo::SetDelayTime (int ID, char delay)
{
char data[1];
data[0] = delay;
if (DEBUG) {
pc.printf("Setting delay time to %dus\n",delay+delay);
}
return (write(ID, REG_RETURN_DELAY, 1, data));
}
int Servo::SetTemperatureLimit (int ID, char temp_limit)
{
char data[1];
data[0] = temp_limit;
if (DEBUG) {
pc.printf("Setting temperature limit to %dC\n",temp_limit);
}
return (write(ID, REG_HIGHTEMP_LIMIT, 1, data));
}
int Servo::SetID (int CurrentID, int NewID)
{
char data[1];
data[0] = NewID;
if (DEBUG) {
pc.printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
}
return (write(CurrentID, REG_ID, 1, data));
}
int Servo::SetBaud (int ID, int baud)
{
char data[1];
data[0] = baud;
if (DEBUG) {
pc.printf("Setting baud to %d\n",(2000000 / baud));
}
return (write(ID, REG_BAUDRATE, 1, data));
}
// return 1 is the servo is still in flight
int Servo::isMoving(int ID)
{
char data[1];
read(ID,REG_MOVING,1,data);
return(data[0]);
}
void Servo::trigger(void)
{
char TxBuf[16];
char sum = 0;
if (TRIGGER_DEBUG) {
pc.printf("\nTriggered\n");
}
// Build the TxPacket first in RAM, then we'll send in one go
if (TRIGGER_DEBUG) {
pc.printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
}
TxBuf[0] = 0xFF;
TxBuf[1] = 0xFF;
// ID - Broadcast
TxBuf[2] = 0xFE;
sum += TxBuf[2];
if (TRIGGER_DEBUG) {
pc.printf(" ID : %d\n",TxBuf[2]);
}
// Length
TxBuf[3] = 0x02;
sum += TxBuf[3];
if (TRIGGER_DEBUG) {
pc.printf(" Length %d\n",TxBuf[3]);
}
// Instruction - ACTION
TxBuf[4] = 0x04;
sum += TxBuf[4];
if (TRIGGER_DEBUG) {
pc.printf(" Instruction 0x%X\n",TxBuf[5]);
}
// Checksum
TxBuf[5] = 0xFF - sum;
if (TRIGGER_DEBUG) {
pc.printf(" Checksum 0x%X\n",TxBuf[5]);
}
// Transmit the packet in one burst with no pausing
for (int i = 0; i < 6 ; i++) {
_servo.putc(TxBuf[i]);
}
// This is a broadcast packet, so there will be no reply
return;
}
int Servo::GetModelNumber(int ID)
{
if (DEBUG) {
pc.printf("\nGetModelNumber(%d)",ID);
}
char data[2];
int ErrorCode = read(ID, REG_MODEL_NUMBER, 2, data);
int modelnumber = data[0] + (data[1] << 8);
return (modelnumber);
}
float Servo::GetPositionDegrees(int ID)
{
short position = GetPosition(ID);
//float angle = (position * 300)/1024; FOR AX-12
float angle = (position - 2048) * 0.087890625;
return (angle);
}
short Servo::GetPosition(int ID)
{
if (DEBUG) {
pc.printf("\nGetPosition(%d)",ID);
}
char data[2];
int ErrorCode = read(ID, REG_POSITION, 2, data);
if (DEBUG) {
pc.printf("[EC=%d]",ErrorCode);
}
short position = data[0] + (data[1] << 8);
// Apply inversions if set
switch(ID){
case(BASE):if(INVERT_BASE == 1)position=4095-position;break;
case(SHOULDER):if(INVERT_SHOULDER == 1)position=4095-position;break;
case(ELBOW):if(INVERT_ELBOW == 1)position=4095-position;break;
case(WRIST):if(INVERT_BASE == 1)position=4095-position;break;
}
return (position);
}
float Servo::GetTemp (int ID)
{
if (DEBUG) {
pc.printf("\nGetTemp(%d)",ID);
}
char data[1];
int ErrorCode = read(ID, REG_TEMP, 1, data);
float temp = data[0];
return(temp);
}
short Servo::GetTemperature(int ID)
{
if (DEBUG) {
pc.printf("\nGetTemperature(%d)",ID);
}
char data[1];
int ErrorCode = read(ID, REG_TEMP, 1, data);
return (short) (data[0]);
}
float Servo::GetVolts (int ID)
{
if (DEBUG) {
pc.printf("\nGetVolts(%d)",ID);
}
char data[1];
int ErrorCode = read(ID, REG_VOLTS, 1, data);
float volts = data[0]/10.0;
return(volts);
}
short Servo::GetVoltage(int ID)
{
if (DEBUG) {
pc.printf("\nGetVoltage(%d)",ID);
}
char data[1];
int ErrorCode = read(ID, REG_VOLTS, 1, data);
return (short) (data[0]);
}
short Servo::GetLoad(int ID)
{
if (DEBUG) {
pc.printf("\nGetLoad(%d)",ID);
}
char data[2];
int ErrorCode = read(ID, REG_LOAD, 2, data);
return (short) (data[0] + (data[1]<<8));
}
short Servo::GetSpeed(int ID)
{
if (DEBUG) {
pc.printf("\nGetSpeed(%d)",ID);
}
char data[2];
int ErrorCode = read(ID, REG_SPEED, 2, data);
return (short) (data[0] + (data[1]<<8));
}
int Servo::read(int ID, int start, int bytes, char* data)
{
char PacketLength = 0x4;
char TxBuf[16];
char sum = 0;
char Status[16];
Status[4] = 0xFE; // return code
if (READ_DEBUG) {
pc.printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
}
// Build the TxPacket first in RAM, then we'll send in one go
if (READ_DEBUG) {
pc.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
}
TxBuf[0] = 0xff;
TxBuf[1] = 0xff;
// ID
TxBuf[2] = ID;
sum += TxBuf[2];
if (READ_DEBUG) {
pc.printf(" ID : %d\n",TxBuf[2]);
}
// Packet Length
TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
sum += TxBuf[3]; // Accululate the packet sum
if (READ_DEBUG) {
pc.printf(" Length : 0x%x\n",TxBuf[3]);
}
// Instruction - Read
TxBuf[4] = 0x2;
sum += TxBuf[4];
if (READ_DEBUG) {
pc.printf(" Instruction : 0x%x\n",TxBuf[4]);
}
// Start Address
TxBuf[5] = start;
sum += TxBuf[5];
if (READ_DEBUG) {
pc.printf(" Start Address : 0x%x\n",TxBuf[5]);
}
// Bytes to read
TxBuf[6] = bytes;
sum += TxBuf[6];
if (READ_DEBUG) {
pc.printf(" No bytes : 0x%x\n",TxBuf[6]);
}
// Checksum
TxBuf[7] = 0xFF - sum;
if (READ_DEBUG) {
pc.printf(" Checksum : 0x%x\n",TxBuf[7]);
}
// Transmit the packet in one burst with no pausing
for (int i = 0; i<8 ; i++) {
_servo.putc(TxBuf[i]);
}
// Wait for data to transmit
wait_us(60); //was 60
// Skip if the read was to the broadcast address
if (ID != 0xFE) {
int timedout = 0;
int timeout_count = 0;
while(!_servo.readable()) {
timeout_count++;
if(timeout_count % 10000 == 0) {
timedout=1;
break;
}
}
if(timedout==1) {
read_timeout_counter++;
if(DEBUG)pc.printf(" Read timed out [%d of %d]\n",read_timeout_counter,READ_TIMEOUT_LIMIT);
if(read_timeout_counter == READ_TIMEOUT_LIMIT){
display.clear_display();
display.set_position(0,0);
display.write_string("SERVO ERROR");
read_timeout_counter = 0;
return 255;
}
return read(ID,start,bytes,data);
} else {
read_timeout_counter = 0;
// Receive the Status packet 6+ number of bytes read
for (int i=0; i<(6+bytes) ; i++) {
Status[i] = _servo.getc();
}
// Copy the data from Status into data for return
for (int i=0; i < Status[3]-2 ; i++) {
data[i] = Status[5+i];
}
if (READ_DEBUG) {
pc.printf("\nStatus Packet\n");
pc.printf(" Header : 0x%x\n",Status[0]);
pc.printf(" Header : 0x%x\n",Status[1]);
pc.printf(" ID : 0x%x\n",Status[2]);
pc.printf(" Length : 0x%x\n",Status[3]);
pc.printf(" Error Code : 0x%x\n",Status[4]);
for (int i=0; i < Status[3]-2 ; i++) {
pc.printf(" Data : 0x%x\n",Status[5+i]);
}
pc.printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
}
} // if (ID!=0xFE)
wait_us(5);
}
return(Status[4]);
}
int Servo:: write(int ID, int start, int bytes, char* data, int flag)
{
// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
char TxBuf[16];
char sum = 0;
char Status[6];
if (WRITE_DEBUG) {
pc.printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
}
// Build the TxPacket first in RAM, then we'll send in one go
if (WRITE_DEBUG) {
pc.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
}
TxBuf[0] = 0xff;
TxBuf[1] = 0xff;
// ID
TxBuf[2] = ID;
sum += TxBuf[2];
if (WRITE_DEBUG) {
pc.printf(" ID : %d\n",TxBuf[2]);
}
// packet Length
TxBuf[3] = 3+bytes;
sum += TxBuf[3];
if (WRITE_DEBUG) {
pc.printf(" Length : %d\n",TxBuf[3]);
}
// Instruction
if (flag == 1) {
TxBuf[4]=0x04;
sum += TxBuf[4];
} else {
TxBuf[4]=0x03;
sum += TxBuf[4];
}
if (WRITE_DEBUG) {
pc.printf(" Instruction : 0x%x\n",TxBuf[4]);
}
// Start Address
TxBuf[5] = start;
sum += TxBuf[5];
if (WRITE_DEBUG) {
pc.printf(" Start : 0x%x\n",TxBuf[5]);
}
// data
for (char i=0; i<bytes ; i++) {
TxBuf[6+i] = data[i];
sum += TxBuf[6+i];
if (WRITE_DEBUG) {
pc.printf(" Data : 0x%x\n",TxBuf[6+i]);
}
}
// checksum
TxBuf[6+bytes] = 0xFF - sum;
if (WRITE_DEBUG) {
pc.printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
}
// Transmit the packet in one burst with no pausing
for (int i = 0; i < (7 + bytes) ; i++) {
_servo.putc(TxBuf[i]);
}
// Wait for data to transmit
wait_us(60);
// make sure we have a valid return
Status[4]=0x00;
// we'll only get a reply if it was not broadcast
if (ID!=0xFE) {
int timedout = 0;
int timeout_count = 0;
while(!_servo.readable()) {
timeout_count++;
if(timeout_count % 10000 == 0) {
timedout=1;
break;
}
}
if(timedout==1) {
read_timeout_counter++;
if(DEBUG)pc.printf(" Write ack. timed out [%d of %d]\n",read_timeout_counter,READ_TIMEOUT_LIMIT);
if(read_timeout_counter == READ_TIMEOUT_LIMIT){
display.clear_display();
display.set_position(0,0);
display.write_string("SERVO ERROR");
read_timeout_counter = 0;
return 255;
}
return write(ID,start,bytes,data,flag);
} else {
read_timeout_counter = 0;
// response is always 6 bytes
// 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
for (int i=0; i < 6 ; i++) {
Status[i] = _servo.getc();
}
}
// Build the TxPacket first in RAM, then we'll send in one go
if (WRITE_DEBUG) {
pc.printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
pc.printf(" ID : %d\n",Status[2]);
pc.printf(" Length : %d\n",Status[3]);
pc.printf(" Error : 0x%x\n",Status[4]);
pc.printf(" Checksum : 0x%x\n",Status[5]);
}
}
return(Status[4]); // return error code
}
//Set the baud rate for serial connection to something other than default(1000000)
void Servo::SetInitBaud(int baud, int delaytime)
{
pc.printf("Setting serial baud rate to %d\n",baud);
_servo.baud(baud);
delay = delaytime;
}
/* Additional copyright notice */
/*
* 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.
*/
/*
* 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.
*/