James Hilder
For YRL Robot Arm
Revision 0:b14dfd8816da, committed 2017-03-03
- Comitter:
- jah128
- Date:
- Fri Mar 03 13:28:54 2017 +0000
- Commit message:
- Updated
Changed in this revision
diff -r 000000000000 -r b14dfd8816da display.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/display.cpp Fri Mar 03 13:28:54 2017 +0000
@@ -0,0 +1,196 @@
+/* University of York Robotics Laboratory Robot Arm Controller Board
+ *
+ * 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.
+ *
+ * File: display.cpp
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ *
+ * James Hilder, Alan Millard, Shuhei Miyashita, Homero Elizondo, Jon Timmis
+ *
+ *
+ * January 2017
+ *
+ * Driver for the Midas 16x2 I2C LCD Display (MCCOG21605x6W) LCD
+ * [Farnell part 2218942 or 2063206]
+ *
+ */
+
+#include "robotarm.h"
+
+
+Timeout init_timeout;
+
+
+Display::Display(PinName sda, PinName scl) : Stream("display"), _i2c(sda,scl)
+{
+}
+
+Display::Display() : Stream("display"), _i2c(p28,p27)
+{
+}
+
+int Display::i2c_message(char byte)
+{
+ char bytes [2];
+ bytes[0]=0x80;
+ bytes[1]=byte;
+ int ret=_i2c.write(LCD_ADDRESS,bytes,2);
+ wait(0.01);
+ return ret;
+}
+
+int Display::disp_putc(int c)
+{
+ char message [2];
+ message[0]=0x40;
+ message[1]=c;
+ _i2c.write(LCD_ADDRESS,message,2);
+ wait(0.01);
+ return c;
+}
+
+void Display::init()
+{
+ //Set initial states: display on, cursor off
+ display_on = 1;
+ cursor_on = 0;
+ blink_on = 0;
+
+ i2c_message(0x38);
+ i2c_message(0x39);
+ i2c_message(0x14);
+ i2c_message(0x74);
+ i2c_message(0x54);
+ i2c_message(0x6F);
+ _set_display();
+ clear_display();
+ wait(0.05);
+ clear_display();
+ set_position(0,0);
+ write_string(" YORK ROBOTICS");
+ set_position(1,0);
+ write_string(" LABORATORY");
+ init_timeout.attach(this,&Display::post_init,0.3);
+ wait(0.62);
+}
+
+void Display::post_init()
+{
+ clear_display();
+ home();
+ write_string("ROBOTIC ARM");
+ set_position(1,0);
+ char line [17];
+ sprintf(line,"VERSION %1.2f", SOFTWARE_VERSION_CODE );
+ set_position(1,0);
+ write_string(line);
+ init_timeout.attach(this,&Display::post_post_init,0.3);
+}
+
+void Display::post_post_init()
+{
+ clear_display();
+ home();
+}
+
+void Display::write_string(char * message)
+{
+ size_t length = strlen(message);
+ if (length > 16) length = 16;
+ char to_send [length+1];
+ to_send[0]=0x40;
+ for(int i=0; i<length; i++) {
+ to_send[i+1] = message[i];
+ }
+ _i2c.write(LCD_ADDRESS,to_send,length+1);
+
+}
+
+
+void Display::write_string(char * message, char length)
+{
+ char to_send [length+1];
+ to_send[0]=0x40;
+ for(int i=0; i<length; i++) {
+ to_send[i+1] = message[i];
+ }
+ _i2c.write(LCD_ADDRESS,to_send,length+1);
+
+}
+
+void Display::set_position(char row, char column)
+{
+ if(row < 2 && column < 16) {
+ char pos = 128 +((row * 64)+column);
+ i2c_message(pos);
+ }
+}
+
+void Display::set_cursor(char enable)
+{
+ cursor_on=enable;
+ _set_display();
+}
+
+void Display::set_blink(char enable)
+{
+ blink_on=enable;
+ _set_display();
+}
+
+void Display::set_display(char enable)
+{
+ display_on=enable;
+ _set_display();
+}
+
+
+void Display::clear_display()
+{
+ i2c_message(0x01);
+}
+
+void Display::home()
+{
+ i2c_message(0x02);
+}
+
+
+void Display::_set_display()
+{
+ char mode = 8;
+ if(display_on>0) mode += 4;
+ if(cursor_on>0) mode += 2;
+ if(blink_on>0) mode ++;
+ i2c_message(mode);
+}
+
+
+int Display::_putc (int c)
+{
+ putc(c);
+ return(c);
+}
+
+int Display::_getc (void)
+{
+ char r = 0;
+ return(r);
+}
+
+/*
+ * 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.
+ */
diff -r 000000000000 -r b14dfd8816da display.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/display.h Fri Mar 03 13:28:54 2017 +0000
@@ -0,0 +1,141 @@
+/* University of York Robotics Laboratory Robot Arm Controller Board
+ *
+
+ * File: display.cpp
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ *
+ * James Hilder, Alan Millard, Shuhei Miyashita, Homero Elizondo, Jon Timmis
+ *
+ *
+ * January 2017
+ *
+ * Driver for the Midas 16x2 I2C LCD Display (MCCOG21605x6W) LCD
+ * [Farnell part 2218942 or 2063206]
+ *
+ */
+
+
+#ifndef DISPLAY_H
+#define DISPLAY_H
+
+
+/**
+ * Display class
+ * Functions for use with the Midas 16x2 I2C LCD Display (MCCOG21605x6W) LCD
+ * Farnell part 2218942 or 2063206
+ *
+ * Example:
+ * @code
+ * #include "robotarm.h"
+ *
+ * Robotarm arm;
+ *
+ * int main() {
+ * arm.init();
+ * display.clear_display; //Clears display
+ * display.set_position(0,2); //Set cursor to row 0 column 2
+ * display.write_string("YORK ROBOTICS");
+ * display.set_position(1,3); //Set cursor to row 1 column 3
+ * display.write_string("LABORATORY");
+ * }
+ * @endcode
+*/
+class Display : public Stream
+{
+
+// Public Functions
+
+public:
+
+ /** Create the LCD Display object connected to the default pins
+ * (sda = p28, scl = p27)
+ */
+ Display();
+
+ /** Create the LCD Display object connected to specific pins
+ *
+ * @param sda pin - default is p28
+ * @param scl pin - default is p27
+ */
+ Display(PinName sda, PinName scl);
+
+ /** Clear the display
+ */
+ void clear_display(void);
+
+ /** Set cursor to home position
+ */
+ void home(void);
+
+ /** Print string message
+ * @param message - The null-terminated message to print
+ */
+ void write_string(char * message);
+
+ /** Print string message of given length
+ * @param message - The message to print
+ * @param length - The number of characters to display
+ */
+ void write_string(char * message, char length);
+
+ /** Set the row and column of cursor position
+ * @param row - The row of the display to set the cursor to (either 0 or 1)
+ * @param column - The column of the display to set the cursor to (range 0 to 15)
+ */
+ void set_position(char row, char column);
+
+ /** Enable or disable cursor
+ * @param enable - Set to 1 to enable the cursor visibility
+ */
+ void set_cursor(char enable);
+
+ /** Enable or disable cursor blink
+ * @param enable - Set to 1 to enable the cursor blinking mode
+ */
+ void set_blink(char enable);
+
+ /** Enable or disable display
+ * @param enable - Set to 1 to enable the display output
+ */
+ void set_display(char enable);
+
+ //Parts of initialisation routine
+ void post_init(void);
+ void post_post_init(void);
+
+ // Send a 1-byte control message to the display
+ int i2c_message(char byte);
+
+ // Default initialisation sequence for the display
+ void init(void);
+
+ int disp_putc(int c);
+
+
+private :
+
+ I2C _i2c;
+
+ char display_on;
+ char cursor_on;
+ char blink_on;
+
+ void _set_display();
+
+ virtual int _putc(int c);
+ virtual int _getc();
+
+};
+
+#endif // DISPLAY_H
+
+/*
+ * 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.
+ */
\ No newline at end of file
diff -r 000000000000 -r b14dfd8816da remote.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/remote.cpp Fri Mar 03 13:28:54 2017 +0000
@@ -0,0 +1,245 @@
+/* University of York Robotics Laboratory Robot Arm Controller Board
+ *
+ * Robot Arm Remote Control
+ *
+ * File: remote.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"
+
+DigitalIn remote_sense(p17,PullUp);
+DigitalIn sw1_up(p21,PullUp);
+DigitalIn sw1_down(p22,PullUp);
+DigitalIn sw1_left(p23,PullUp);
+DigitalIn sw1_right(p24,PullUp);
+DigitalIn sw2_up(p25,PullUp);
+DigitalIn sw2_down(p26,PullUp);
+DigitalIn sw2_left(p29,PullUp);
+DigitalIn sw2_right(p30,PullUp);
+
+DigitalOut red_led(p16);
+DigitalOut green_led(p20);
+Ticker attach_remote_sensor;
+char remote_on = 0;
+char h_switch = 0;
+char limit_reached = 0;
+
+
+void Remote::init()
+{
+ attach_remote_sensor.attach_us(this,&Remote::detect_remote,REMOTE_POLL_RATE);
+}
+
+char step = REMOTE_START_SPEED;
+
+void Remote::detect_direction()
+{
+ char t_switch = 0;
+ if(!sw1_up)t_switch+=1;
+ if(!sw1_down)t_switch+=2;
+ if(!sw1_left)t_switch+=4;
+ if(!sw1_right)t_switch+=8;
+ if(!sw2_up)t_switch+=16;
+ if(!sw2_down)t_switch+=32;
+ if(!sw2_left)t_switch+=64;
+ if(!sw2_right)t_switch+=128;
+
+ if(t_switch!=h_switch) {
+ h_switch=t_switch;
+ pc.printf("Switch ");
+ if(h_switch == 0) {
+ pc.printf("released");
+ step = REMOTE_START_SPEED;
+ set_led(0);
+ } else {
+ if(h_switch & 0x01) {
+ pc.printf("1-UP ");
+ }
+ if(h_switch & 0x02) {
+ pc.printf("1-DN ");
+ }
+ if(h_switch & 0x04) {
+ pc.printf("1-LF ");
+ }
+ if(h_switch & 0x08) {
+ pc.printf("1-RT ");
+ }
+ if(h_switch & 0x10) {
+ pc.printf("2-UP ");
+ }
+ if(h_switch & 0x20) {
+ pc.printf("2-DN ");
+ }
+ if(h_switch & 0x40) {
+ pc.printf("2-LF ");
+ }
+ if(h_switch & 0x80) {
+ pc.printf("2-RT ");
+ }
+
+ }
+ pc.printf("\n");
+ }
+ if(t_switch != 0) {
+
+ if(h_switch & 0x01) {
+ move_servo(1,step);
+ }
+ if(h_switch & 0x02) {
+ move_servo(1,-step);
+ }
+ if(h_switch & 0x04) {
+ move_servo(0,-step);
+ }
+ if(h_switch & 0x08) {
+ move_servo(0,step);
+ }
+ if(h_switch & 0x10) {
+ move_servo(2,step);
+ }
+ if(h_switch & 0x20) {
+ move_servo(2,-step);
+ }
+ if(h_switch & 0x40) {
+ move_servo(3,-step);
+ }
+ if(h_switch & 0x80) {
+ move_servo(3,step);
+ }
+ if(REMOTE_LINEAR_STEPS != 1) {
+ step += REMOTE_START_SPEED;
+ if(step > 200) step = 200;
+ }
+ set_led(2-limit_reached);
+ }
+}
+
+void Remote::move_servo(char servo_number, int adjust)
+{
+ char enabled = 0;
+ char servo_id = 0;
+ short stored_value = 0;
+ switch(servo_number) {
+ case 0:
+ servo_id=BASE;
+ if(HAS_BASE)enabled = 1;
+ stored_value = target_base;
+ break;
+ case 1:
+ servo_id=SHOULDER;
+ if(HAS_SHOULDER) enabled = 1;
+ stored_value = target_shoulder;
+ break;
+ case 2:
+ servo_id=ELBOW;
+ if(HAS_ELBOW) enabled = 1;
+ stored_value = target_elbow;
+ break;
+ case 3:
+ servo_id=WRIST;
+ if(HAS_WRIST) enabled = 1;
+ stored_value = target_wrist;
+ break;
+ }
+ if(enabled) {
+ if(REMOTE_USE_CURRENT_POSITION == 1) stored_value = servo.GetPosition(servo_id);
+ int adjusted = stored_value + adjust;
+ limit_reached = 0;
+ int servo_low_limit = servo.GetLowerLimit(servo_id);
+ int servo_high_limit = servo.GetUpperLimit(servo_id);
+ if(adjusted <= servo_low_limit) {
+ stored_value = servo_low_limit;
+ limit_reached = 1;
+ }
+ if(adjusted > servo_high_limit) {
+ stored_value = servo_high_limit;
+ limit_reached = 1;
+ }
+ if(limit_reached == 0) stored_value = adjusted;
+ pc.printf("{%d}",stored_value);
+ servo.SetGoal(servo_id,stored_value,1);
+ pc.printf("{-}");
+ servo.trigger();
+ switch(servo_number) {
+ case 0:
+ target_base = stored_value;
+ break;
+ case 1:
+ target_shoulder = stored_value;
+ break;
+ case 2:
+ target_elbow = stored_value;
+ break;
+ case 3:
+ target_wrist = stored_value;
+ break;
+ }
+
+ } else limit_reached = 2; //Turns off LED on inactive servos
+}
+void Remote::detect_remote()
+{
+ if (remote_sense == remote_on) {
+ if(remote_on) {
+ remote_on = 0;
+ // Remote detached
+ pc.printf("Remote detached\n");
+ display.clear_display();
+ set_led(0);
+ } else {
+ remote_on = 1;
+ // Remote attached
+ pc.printf("Remote attached\n");
+ display.clear_display();
+ display.home();
+ display.write_string("REMOTE CONTROL");
+ }
+ } else {
+ if(remote_on) detect_direction();
+ }
+}
+
+/**
+ * Set the LED on the remote
+ * param: mode 0=off 1=red 2=green 3=both
+ */
+void Remote::set_led(char mode)
+{
+ switch(mode) {
+ case 0:
+ red_led=0;
+ green_led = 0;
+ break;
+ case 1:
+ red_led = 1;
+ green_led = 0;
+ break;
+ case 2:
+ red_led = 0;
+ green_led = 1;
+ break;
+ case 3:
+ red_led = 1;
+ green_led = 1;
+ break;
+ }
+}
+
+
+/*
+ * 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.
+ *
+ */
\ No newline at end of file
diff -r 000000000000 -r b14dfd8816da remote.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/remote.h Fri Mar 03 13:28:54 2017 +0000
@@ -0,0 +1,77 @@
+/* University of York Robotics Laboratory Robot Arm Controller Board
+ *
+ * Robot Arm Remote Control
+ *
+ * File: remote.h
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ *
+ * James Hilder, Alan Millard, Shuhei Miyashita, Homero Elizondo, Jon Timmis
+ *
+ * February 2017, Version 1.0
+ *
+ */
+
+
+#ifndef REMOTE_H
+#define REMOTE_H
+
+/** Remote Class
+ * The Remote controller class
+ *
+ * Example code for main.cpp:
+ * @code
+ * #include "robotarm.h"
+ * Robotarm arm;
+ * int main(){
+ * arm.init();
+ * while(1) { //Do something!
+ * }
+ * }
+ * @endcode
+ */
+class Remote
+{
+public:
+ /**
+ * Main initialisation routine for the robot arm
+ *
+ * Set up the display, set up listener for remote control, set up servos
+ */
+ void init(void);
+
+ /**
+ * Set the LED on the remote
+ * param: mode 0=off 1=red 2=green 3=both
+ */
+ void set_led(char mode);
+
+ /**
+ * Detect if remote has been attached or detached
+ */
+ void detect_remote(void);
+
+ /**
+ * Detect if a direction switch is being pressed
+ */
+ void detect_direction(void);
+
+ /**
+ * Move the servo based on controller position
+ */
+ void move_servo(char servo_number, int adjust);
+
+
+};
+#endif // REMOTE_H
+
+/*
+ * 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.
+ *
+ */
\ No newline at end of file
diff -r 000000000000 -r b14dfd8816da robotarm.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/robotarm.cpp Fri Mar 03 13:28:54 2017 +0000
@@ -0,0 +1,228 @@
+/* University of York Robotics Laboratory Robot Arm Controller Board
+ *
+ * Robot Arm Controller
+ *
+ * File: robotarm.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"
+
+Display display; //Connects to i2c(p28,p27)
+Remote remote;
+Serial pc(USBTX,USBRX);
+Servo servo(p9,p10);
+short target_base = 2048;
+short target_shoulder = 2048;
+short target_elbow = 2048;
+short target_wrist = 2048;
+
+void Robotarm::init()
+{
+ pc.baud(115200);
+ //hardware_test();
+ pc.printf("Robot Arm Controller\nSoftware Version %1.2f\n",SOFTWARE_VERSION_CODE);
+ display.init();
+ init_servos();
+}
+
+void Robotarm::init_servos()
+{
+ Timeout fail_timeout;
+ fail_timeout.attach(this,&Robotarm::fail_init,2);
+ display.clear_display();
+ wait(0.1);
+ display.set_position(0,0);
+ display.write_string("CHECKING SERVOS:");
+ pc.printf("Initialising robot arm\n");
+ wait(0.1);
+
+ if(HAS_BASE) {
+ display.set_position(1,0);
+ display.write_string("BASE:");
+ pc.printf("Check servo %d [BASE]:",BASE);
+ if(servo.GetModelNumber(BASE) != MX28_MODEL) fail_init();
+ servo.SetLowVoltageLimit(BASE, LOW_VOLTAGE_LIMIT);
+ servo.SetHighVoltageLimit(BASE, HIGH_VOLTAGE_LIMIT);
+ servo.SetTemperatureLimit(BASE, HIGH_TEMPERATURE_LIMIT);
+ //servo.SetCWLimit(BASE, 0);
+ //servo.SetCCWLimit(BASE, 0);
+ servo.LockEeprom(BASE);
+ pc.printf("OK\n");
+ display.set_position(1,9);
+ display.write_string("[OK]");
+ wait(0.2);
+ }
+
+ if(HAS_SHOULDER) {
+ display.set_position(1,0);
+ display.write_string("SHOULDER: ");
+ pc.printf("Check servo %d [SHOULDER]:",SHOULDER);
+ if(servo.GetModelNumber(SHOULDER) != MX28_MODEL) fail_init();
+ servo.SetLowVoltageLimit(SHOULDER, LOW_VOLTAGE_LIMIT);
+ servo.SetHighVoltageLimit(SHOULDER, HIGH_VOLTAGE_LIMIT);
+ servo.SetTemperatureLimit(SHOULDER, HIGH_TEMPERATURE_LIMIT);
+ //servo.SetCWLimit(SHOULDER, 0);
+ //servo.SetCCWLimit(SHOULDER, 0);
+ servo.LockEeprom(SHOULDER);
+ pc.printf("OK\n");
+ display.set_position(1,9);
+ display.write_string("[OK]");
+ wait(0.2);
+ }
+
+ if(HAS_ELBOW) {
+ display.set_position(1,0);
+ display.write_string("ELBOW: ");
+ pc.printf("Check servo %d [ELBOW]:",ELBOW);
+ if(servo.GetModelNumber(ELBOW) != MX28_MODEL) fail_init();
+ servo.SetLowVoltageLimit(ELBOW, LOW_VOLTAGE_LIMIT);
+ servo.SetHighVoltageLimit(ELBOW, HIGH_VOLTAGE_LIMIT);
+ servo.SetTemperatureLimit(ELBOW, HIGH_TEMPERATURE_LIMIT);
+ //servo.SetCWLimit(ELBOW, 0);
+ //servo.SetCCWLimit(ELBOW, 0);
+ servo.LockEeprom(ELBOW);
+ pc.printf("OK\n");
+ display.set_position(1,9);
+ display.write_string("[OK]");
+ wait(0.2);
+ }
+
+ if(HAS_WRIST) {
+ display.set_position(1,0);
+ display.write_string("WRIST: ");
+ pc.printf("Check servo %d [WRIST]:",WRIST);
+ if(servo.GetModelNumber(WRIST) != AX12_MODEL) fail_init();
+ servo.SetLowVoltageLimit(WRIST, LOW_VOLTAGE_LIMIT);
+ servo.SetHighVoltageLimit(WRIST, HIGH_VOLTAGE_LIMIT);
+ servo.SetTemperatureLimit(WRIST, HIGH_TEMPERATURE_LIMIT);
+ //servo.SetCWLimit(WRIST, 0);
+ //servo.SetCCWLimit(WRIST, 0);
+ servo.LockEeprom(WRIST);
+ pc.printf("OK\n");
+ display.set_position(1,9);
+ display.write_string("[OK]");
+ wait(0.2);
+ }
+
+ fail_timeout.detach();
+}
+
+float zero_time_delay;
+Timeout zero_timeout;
+
+void Robotarm::zero_servos(float time_delay)
+{
+ if(time_delay <= 0)_zero_servos();
+ else {
+ zero_time_delay = time_delay;
+ display.clear_display();
+ display.set_position(0,0);
+ display.write_string("ZEROING ARM IN");
+ display.set_position(1,0);
+ char message[17];
+ sprintf(message,"%2.1f SECONDS",zero_time_delay);
+ display.write_string(message);
+ if(zero_time_delay < 0.1)zero_timeout.attach(this,&Robotarm::_zero_servos,zero_time_delay);
+ else zero_timeout.attach(this,&Robotarm::_zero_servos_display_update,0.1);
+ }
+}
+
+void Robotarm::_zero_servos_display_update()
+{
+ display.set_position(1,0);
+ zero_time_delay-=0.1;
+ char message[17];
+ sprintf(message,"%2.1f SECONDS",zero_time_delay);
+ display.write_string(message);
+ if(zero_time_delay < 0.1) zero_timeout.attach(this,&Robotarm::_zero_servos,zero_time_delay);
+ else zero_timeout.attach(this,&Robotarm::_zero_servos_display_update,0.1);
+}
+
+void Robotarm::_zero_servos()
+{
+ display.clear_display();
+ servo.SetGoal(BASE,2048,1);
+ servo.SetGoal(SHOULDER,2048,1);
+ servo.SetGoal(ELBOW,2048,1);
+ servo.trigger();
+ target_base = 2048;
+ target_shoulder = 2048;
+ target_elbow = 2048;
+ target_wrist = 2048;
+}
+
+void Robotarm::fail_init()
+{
+ display.clear_display();
+ display.set_position(0,0);
+ display.write_string("SERVO ERROR");
+ while(1) {
+ remote.set_led(1);
+ wait(0.2);
+ remote.set_led(0);
+ wait(0.1);
+ }
+}
+
+void Robotarm::hardware_test()
+{
+ pc.printf("\nBeginning extended hardware test\n");
+ wait(0.5);
+ pc.printf("Scanning for servos:\n");
+ servo.ScanForServos();
+ pc.printf("\nDone.");
+ while(1);
+}
+
+// Important: initialise_servo() is ONLY used when setting the servo IDs for the first time,
+// do not run once the arm has been set up!
+void Robotarm::initialise_servo(int target_servo)
+{
+ pc.printf("RUNNING SERVO SETUP ROUTINE FOR SERVO %d\n\n",target_servo);
+
+ // MX-28s default to a baud rate of 57600 with delay time of 500us
+ servo.SetInitBaud(57600, 250);
+
+ int model = servo.GetModelNumber(1);
+ if(model != MX28_MODEL) {
+ pc.printf("Error: No MX-28 servo with ID 1 found...\n");
+ while(1);
+ }
+ servo.DebugData(1);
+
+ pc.printf("\n\nSetting up MX-28 servo to ID %d\n",target_servo);
+ servo.SetID(0x01,target_servo);
+ wait(0.25);
+ //Uncomment the following block to setup servo to use 1Mbps baud rate
+ /*
+ pc.printf("Setting baud rate for servo to 1000000\n");
+ servo.SetBaud(target_servo,1);
+ wait(0.25);
+ pc.printf("Setting return delay time for servo to %dus\n",RETURN_DELAY + RETURN_DELAY);
+ servo.SetDelayTime(target_servo,RETURN_DELAY);
+ wait(0.25);
+ pc.printf("Resetting connecting baud rate\n");
+ servo.SetInitBaud(1000000, RETURN_DELAY);
+ wait(0.25);
+ */
+ pc.printf("Getting servo data:\n");
+ servo.DebugData(target_servo);
+ while(0.25);
+}
+
+/*
+ * Copyright 2016 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.
+ *
+ */
\ No newline at end of file
diff -r 000000000000 -r b14dfd8816da robotarm.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/robotarm.h Fri Mar 03 13:28:54 2017 +0000
@@ -0,0 +1,144 @@
+/* University of York Robotics Laboratory Robot Arm Controller Board
+ *
+ * Robot Arm Controller
+ *
+ * File: robotarm.h
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ *
+ * James Hilder, Alan Millard, Shuhei Miyashita, Homero Elizondo, Jon Timmis
+ *
+ * February 2017, Version 1.0
+ */
+
+
+#ifndef ROBOTARM_H
+#define ROBOTARM_H
+
+#define SOFTWARE_VERSION_CODE 0.21
+#define LCD_ADDRESS 0x7C
+
+// Remote control definitions:
+// REMOTE_ENABLED = 1 to enable remote control polling
+// REMOTE_POLL_RATE = poll rate in microseconds
+// REMOTE_LINEAR_STEPS = 1 to use same step amount each step; 0 to use a exponentially increasing amount as button held
+// REMOTE_START_SPEED = Size of step to use; suggest 2 for LINEAR_STEPS=0 or 10 for LINEAR_STEPS=1
+// REMOTE_USE_CURRENT_POSITION = 0 will move based on the stored target position, 1 will read the current position and set target accordingly. This may make certain settings combinations fail to move under cases of high-torque load and low step size
+#define REMOTE_ENABLED 1
+#define REMOTE_POLL_RATE 15627
+#define REMOTE_LINEAR_STEPS 1
+#define REMOTE_START_SPEED 10
+#define REMOTE_USE_CURRENT_POSITION 0
+
+#define HAS_BASE 1
+#define HAS_SHOULDER 1
+#define HAS_ELBOW 1
+#define HAS_WRIST 0
+
+#define INVERT_BASE 1
+#define INVERT_SHOULDER 1
+#define INVERT_ELBOW 0
+#define INVERT_WRIST 0
+
+// If USE_SOFT_LIMITS = 1, SERVOS WILL BE LIMITED TO RANGES THAT FOLLOW
+#define USE_SOFT_LIMITS 1
+#define BASE_LIMIT_LOW 100
+#define BASE_LIMIT_HIGH 4000
+#define SHOULDER_LIMIT_LOW 700
+#define SHOULDER_LIMIT_HIGH 3400
+#define ELBOW_LIMIT_LOW 380
+#define ELBOW_LIMIT_HIGH 3720
+#define USE_LIMIT_WARNING 1
+
+#define BASE 10
+#define SHOULDER 11
+#define ELBOW 12
+#define WRIST 13
+
+#include "mbed.h"
+#include "display.h"
+#include "remote.h"
+#include "servo.h"
+#include "SerialHalfDuplex.h"
+
+extern Display display;
+extern Remote remote;
+extern Serial pc;
+extern Serial servo_data;
+extern Servo servo;
+
+extern char remote_on;
+extern short target_base;
+extern short target_shoulder;
+extern short target_elbow;
+extern short target_wrist;
+
+/** Robotarm Class
+ * The main class to define the robot arm
+ *
+ * Example code for main.cpp:
+ * @code
+ * #include "robotarm.h"
+ * Robotarm arm;
+ * int main(){
+ * arm.init();
+ * while(1) { //Do something!
+ * }
+ * }
+ * @endcode
+ */
+class Robotarm
+{
+public:
+ /**
+ * Main initialisation routine for the robot arm
+ *
+ * Set up the display, set up listener for remote control, set up servos
+ */
+ void init(void);
+
+ /**
+ * Test and initialise the servo motors
+ */
+ void init_servos(void);
+
+ /**
+ * Zero the servo motors (set to center position and activate)
+ * @param time_delay: The time delay in seconds to wait before zeroing (0=no delay)
+ */
+ void zero_servos(float time_delay);
+
+ /**
+ * Called when servo initialisation fails; displays warning and halts program.
+ */
+ void fail_init(void);
+
+ /**
+ * Hardware test scans for all servos at different baud rates
+ */
+ void hardware_test(void);
+
+ /**
+ * Initialise_servo is used to set the EPROM on a single servo so that its
+ * ID and baud rate are correct; only to be used in initial configuration of the
+ * arm, not in a normal program
+ */
+ void initialise_servo(int target_servo);
+
+ private:
+
+ void _zero_servos(void);
+ void _zero_servos_display_update(void);
+};
+#endif // ROBOTARM_H
+
+/*
+ * 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.
+ *
+ */
\ No newline at end of file
diff -r 000000000000 -r b14dfd8816da servo.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/servo.cpp Fri Mar 03 13:28:54 2017 +0000
@@ -0,0 +1,962 @@
+/* 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.
+ */
diff -r 000000000000 -r b14dfd8816da servo.h
--- /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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