James Hilder / Mbed 2 deprecated PR_RobotArmSetup

Code to set up an AX-12 or MX-28 (and to scan for unidentified servos) ready for use in the robot arm.

Dependencies:   mbed

main.cpp@0:03f84c95f73b, 2017-02-16 (annotated)

Committer:
jah128
Date:
Thu Feb 16 20:45:33 2017 +0000
Revision:
0:03f84c95f73b
Child:
1:21a24da53b7f
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:03f84c95f73b 1 // Dynamixel Servo Setup Code
jah128 0:03f84c95f73b 2 //
jah128 0:03f84c95f73b 3 // Modify the commented lines in main() to setup required servos
jah128 0:03f84c95f73b 4
jah128 0:03f84c95f73b 5 #include "servo.h"
jah128 0:03f84c95f73b 6 #include "mbed.h"
jah128 0:03f84c95f73b 7 #include "SerialHalfDuplex.h"
jah128 0:03f84c95f73b 8
jah128 0:03f84c95f73b 9 #define BASE 10
jah128 0:03f84c95f73b 10 #define SHOULDER 11
jah128 0:03f84c95f73b 11 #define ELBOW 12
jah128 0:03f84c95f73b 12 #define WRIST 13
jah128 0:03f84c95f73b 13
jah128 0:03f84c95f73b 14 Serial pc(USBTX,USBRX);
jah128 0:03f84c95f73b 15 Servo servo(p9,p10);
jah128 0:03f84c95f73b 16
jah128 0:03f84c95f73b 17 void scan_for_servos()
jah128 0:03f84c95f73b 18 {
jah128 0:03f84c95f73b 19 pc.printf("Scanning for servos at 57600 baud:\n");
jah128 0:03f84c95f73b 20 servo.SetInitBaud(57600,250);
jah128 0:03f84c95f73b 21 for(int i=0;i<254;i++){
jah128 0:03f84c95f73b 22 int model = servo.GetModelNumber(i);
jah128 0:03f84c95f73b 23 if(model == AX12_MODEL) pc.printf("AX-12 found at ID %d",i);
jah128 0:03f84c95f73b 24 if(model == MX28_MODEL) pc.printf("MX-28 found at ID %d",i);
jah128 0:03f84c95f73b 25 }
jah128 0:03f84c95f73b 26 wait(0.5);
jah128 0:03f84c95f73b 27 pc.printf("\n\nScanning for servos at 1M baud:\n");
jah128 0:03f84c95f73b 28 servo.SetInitBaud(1000000,50);
jah128 0:03f84c95f73b 29 for(int i=0;i<254;i++){
jah128 0:03f84c95f73b 30 int model = servo.GetModelNumber(i);
jah128 0:03f84c95f73b 31 if(model == AX12_MODEL) pc.printf("AX-12 found at ID %d",i);
jah128 0:03f84c95f73b 32 if(model == MX28_MODEL) pc.printf("MX-28 found at ID %d",i);
jah128 0:03f84c95f73b 33 }
jah128 0:03f84c95f73b 34 while(1);
jah128 0:03f84c95f73b 35 }
jah128 0:03f84c95f73b 36
jah128 0:03f84c95f73b 37 void initialise_mx28_servo(int current_address, int target_servo)
jah128 0:03f84c95f73b 38 {
jah128 0:03f84c95f73b 39 pc.printf("RUNNING SERVO SETUP ROUTINE FOR SERVO %d\n\n",target_servo);
jah128 0:03f84c95f73b 40
jah128 0:03f84c95f73b 41 // MX-28s default to a baud rate of 57600 with delay time of 500us
jah128 0:03f84c95f73b 42 servo.SetInitBaud(57600, 250);
jah128 0:03f84c95f73b 43 int model = servo.GetModelNumber(current_address);
jah128 0:03f84c95f73b 44 if(model != MX28_MODEL) {
jah128 0:03f84c95f73b 45 pc.printf("Error: No MX-28 servo with ID %d found...\n",current_address);
jah128 0:03f84c95f73b 46 while(1);
jah128 0:03f84c95f73b 47 }
jah128 0:03f84c95f73b 48 pc.printf("\n\nSetting up MX-28 servo to ID %d\n",target_servo);
jah128 0:03f84c95f73b 49 servo.SetID(current_address,target_servo);
jah128 0:03f84c95f73b 50 wait(0.25);
jah128 0:03f84c95f73b 51 pc.printf("Getting servo data:\n");
jah128 0:03f84c95f73b 52 servo.DebugData(target_servo);
jah128 0:03f84c95f73b 53 pc.printf("\n\nDone (check messages above to verify status)\n");
jah128 0:03f84c95f73b 54 while(1);
jah128 0:03f84c95f73b 55 }
jah128 0:03f84c95f73b 56
jah128 0:03f84c95f73b 57 void initialise_ax12_servo(int current_address, int target_servo)
jah128 0:03f84c95f73b 58 {
jah128 0:03f84c95f73b 59 pc.printf("RUNNING SERVO SETUP ROUTINE FOR SERVO %d\n\n",target_servo);
jah128 0:03f84c95f73b 60
jah128 0:03f84c95f73b 61 // AX-12s default to a baud rate of 1M with delay time of 100us
jah128 0:03f84c95f73b 62 servo.SetInitBaud(1000000, 50);
jah128 0:03f84c95f73b 63 int model = servo.GetModelNumber(current_address);
jah128 0:03f84c95f73b 64 if(model != AX12_MODEL) {
jah128 0:03f84c95f73b 65 pc.printf("Error: No AX12 servo with ID %d found...\n",current_address);
jah128 0:03f84c95f73b 66 while(1);
jah128 0:03f84c95f73b 67 }
jah128 0:03f84c95f73b 68 pc.printf("\n\nSetting up AX-12 servo to ID %d\n",target_servo);
jah128 0:03f84c95f73b 69 servo.SetID(current_address,target_servo);
jah128 0:03f84c95f73b 70 wait(0.25);
jah128 0:03f84c95f73b 71 pc.printf("Setting return delay time for servo to 500us\n");
jah128 0:03f84c95f73b 72 servo.SetDelayTime(target_servo,250);
jah128 0:03f84c95f73b 73 wait(0.25);
jah128 0:03f84c95f73b 74 pc.printf("Setting baud rate for servo to 57600\n");
jah128 0:03f84c95f73b 75 servo.SetBaud(target_servo,0x22);
jah128 0:03f84c95f73b 76 wait(0.25);
jah128 0:03f84c95f73b 77 pc.printf("Resetting connecting baud rate\n");
jah128 0:03f84c95f73b 78 servo.SetInitBaud(57600, 250);
jah128 0:03f84c95f73b 79 wait(0.25);
jah128 0:03f84c95f73b 80 pc.printf("Getting servo data:\n");
jah128 0:03f84c95f73b 81 servo.DebugData(target_servo);
jah128 0:03f84c95f73b 82 pc.printf("\n\nDone (check messages above to verify status)\n");
jah128 0:03f84c95f73b 83 while(1);
jah128 0:03f84c95f73b 84 }
jah128 0:03f84c95f73b 85 int main()
jah128 0:03f84c95f73b 86 {
jah128 0:03f84c95f73b 87 pc.baud(115200);
jah128 0:03f84c95f73b 88 pc.printf("Dynamixel Servo Setup\n");
jah128 0:03f84c95f73b 89
jah128 0:03f84c95f73b 90 // To scan for servos, uncomment the following line:
jah128 0:03f84c95f73b 91 //scan_for_servos();
jah128 0:03f84c95f73b 92
jah128 0:03f84c95f73b 93 // To setup a new MX-28 servo, uncomment the following line and replace first number with current ID and second number with target ID:
jah128 0:03f84c95f73b 94 //initialise_mx28_servo(1,BASE);
jah128 0:03f84c95f73b 95
jah128 0:03f84c95f73b 96 // To setup a new AX-12 servo, uncomment the following line and replace first number with current ID and second number with target ID:
jah128 0:03f84c95f73b 97 //initialise_ax12_servo(1,WRIST);
jah128 0:03f84c95f73b 98
jah128 0:03f84c95f73b 99 pc.printf("Edit the comments in main() to check and program servos.\n");
jah128 0:03f84c95f73b 100 }