Przemysław Kochański / Maestro

Library for Pololu Maestro Servo Controller http://www.pololu.com/docs/0J40

Library for Pololu Maestro Servo Controller

Library docs: https://developer.mbed.org/users/kochansky/code/Maestro/docs/f374c7b60318/classMaestro.html

Example usage:

#include "mbed.h"
#include "Maestro.h"

Maestro maestro(PTC4,PTC3);

int main()
{
    maestro.setBaudRate(9600);

    // limit speed for each servo
    for (uint8_t i = 0; i < 17; i++) {
        maestro.setSpeed(i, 10);
    }

    while (true) {
       // set servo on channel 0 to 90 degrees
       maestro.setServoAngle(0, 90);
       wait(2);

        // set servo on channel 0 to 45 degrees
       maestro.setServoAngle(0, 45);
       wait(2);
    }
}

Serial commands based on manual: http://www.pololu.com/docs/0J40/5.e

Device pinout:

/media/uploads/kochansky/maestro.jpg

Maestro.h@5:0fd491357750, 2014-01-06 (annotated)

Committer:
kochansky
Date:
Mon Jan 06 11:14:19 2014 +0000
Revision:
5:0fd491357750
Parent:
4:ef4d23c023ea
Child:
6:1d8357775b6d
multiple servos

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kochansky 0:5c8cc5bd6403 1 /**
kochansky 0:5c8cc5bd6403 2 * @author Przemysław Kochański
kochansky 0:5c8cc5bd6403 3 *
kochansky 0:5c8cc5bd6403 4 * @section DESCRIPTION
kochansky 0:5c8cc5bd6403 5 *
kochansky 0:5c8cc5bd6403 6 * Library for Pololu Maestro Servo Controller
kochansky 0:5c8cc5bd6403 7 * Serial Servo Commands: http://www.pololu.com/docs/0J40/5.e
kochansky 0:5c8cc5bd6403 8 */
kochansky 0:5c8cc5bd6403 9
kochansky 0:5c8cc5bd6403 10 #ifndef MAESTRO
kochansky 0:5c8cc5bd6403 11 #define MAESTRO
kochansky 0:5c8cc5bd6403 12
kochansky 0:5c8cc5bd6403 13 #include "mbed.h"
kochansky 0:5c8cc5bd6403 14
kochansky 0:5c8cc5bd6403 15 /**
kochansky 0:5c8cc5bd6403 16 * Compact Protocol Command Bytes
kochansky 0:5c8cc5bd6403 17 */
kochansky 3:1c654893354d 18 #define SET_TARGET 0x84
kochansky 5:0fd491357750 19 #define SET_MULTIPLE_TARGETS 0x9F
kochansky 3:1c654893354d 20 #define SET_SPEED 0x87
kochansky 3:1c654893354d 21 #define SET_ACCELERATION 0x89
kochansky 3:1c654893354d 22 #define SET_PWM 0x8A
kochansky 3:1c654893354d 23 #define GET_POSITION 0x90
kochansky 3:1c654893354d 24 #define GET_MOVING_STATE 0x93
kochansky 3:1c654893354d 25 #define GET_ERRORS 0xA1
kochansky 3:1c654893354d 26 #define GO_HOME 0xA2
kochansky 3:1c654893354d 27 #define BAUD_RATE_IDICATION 0xAA
kochansky 0:5c8cc5bd6403 28
kochansky 0:5c8cc5bd6403 29 /**
kochansky 5:0fd491357750 30 * Errors bits numbers
kochansky 5:0fd491357750 31 */
kochansky 5:0fd491357750 32 #define SERIAL_SIGNAL_ERROR 0
kochansky 5:0fd491357750 33 #define SERIAL_OVERRUN_ERROR 1
kochansky 5:0fd491357750 34 #define SERIAL_RX_BUFFER_FULL_ERROR 2
kochansky 5:0fd491357750 35 #define SERIAL_CRC_ERROR 3
kochansky 5:0fd491357750 36 #define SERIAL_PROTOCOL_ERROR 4
kochansky 5:0fd491357750 37 #define SERIAL_TIMEOUT_ERROR 5
kochansky 5:0fd491357750 38 #define SCRIPT_STACK_ERROR 6
kochansky 5:0fd491357750 39 #define SCRIPT_CALL_STACK_ERROR 7
kochansky 5:0fd491357750 40 #define SCRIPT_PROGRAM_COUNTER_ERROR 8
kochansky 5:0fd491357750 41
kochansky 5:0fd491357750 42 /**
kochansky 0:5c8cc5bd6403 43 * Pololu Maestro Servo Controller
kochansky 0:5c8cc5bd6403 44 */
kochansky 0:5c8cc5bd6403 45 class Maestro
kochansky 0:5c8cc5bd6403 46 {
kochansky 0:5c8cc5bd6403 47
kochansky 1:c14b79e3f39b 48 public:
kochansky 0:5c8cc5bd6403 49
kochansky 0:5c8cc5bd6403 50 /**
kochansky 0:5c8cc5bd6403 51 * Constructor
kochansky 0:5c8cc5bd6403 52 *
kochansky 0:5c8cc5bd6403 53 * @param tx - mbed pin to use for TX serial line
kochansky 0:5c8cc5bd6403 54 * @param rx - mbed pin to use for RX serial line
kochansky 0:5c8cc5bd6403 55 */
kochansky 0:5c8cc5bd6403 56 Maestro(PinName tx, PinName rx);
kochansky 0:5c8cc5bd6403 57
kochansky 4:ef4d23c023ea 58 /**
kochansky 4:ef4d23c023ea 59 * Sets baud rate
kochansky 4:ef4d23c023ea 60 *
kochansky 4:ef4d23c023ea 61 * @param baud - Baud Rate to be set
kochansky 4:ef4d23c023ea 62 */
kochansky 4:ef4d23c023ea 63 void setBaudRate(uint16_t baud);
kochansky 3:1c654893354d 64
kochansky 0:5c8cc5bd6403 65 /**
kochansky 0:5c8cc5bd6403 66 * Sets the target of a channel to a specified value
kochansky 0:5c8cc5bd6403 67 *
kochansky 0:5c8cc5bd6403 68 * @param channel - number a servo channel
kochansky 0:5c8cc5bd6403 69 * @param target - the pulse width to transmit in units of quarter-microseconds
kochansky 0:5c8cc5bd6403 70 */
kochansky 3:1c654893354d 71 void setTarget(uint8_t channel, uint16_t target);
kochansky 0:5c8cc5bd6403 72
kochansky 4:ef4d23c023ea 73 /**
kochansky 4:ef4d23c023ea 74 * Sets specified channel's servo to a specified angle
kochansky 4:ef4d23c023ea 75 *
kochansky 4:ef4d23c023ea 76 * @param channel - number a servo channel
kochansky 4:ef4d23c023ea 77 * @param angle - target angle of a servo
kochansky 4:ef4d23c023ea 78 */
kochansky 4:ef4d23c023ea 79 void setServoAngle(uint8_t channel, int8_t angle);
kochansky 4:ef4d23c023ea 80
kochansky 5:0fd491357750 81 /**
kochansky 5:0fd491357750 82 * Simultaneously sets the targets for a contiguous block of channels
kochansky 5:0fd491357750 83 *
kochansky 5:0fd491357750 84 * @param count - number of channels in the contiguous block
kochansky 5:0fd491357750 85 * @param firstChannel - lowest channel number in the contiguous block
kochansky 5:0fd491357750 86 * @param target - target values (the pulse width to transmit in units of
kochansky 5:0fd491357750 87 * quarter-microseconds) for each of the channels, in order by channel number
kochansky 5:0fd491357750 88 */
kochansky 5:0fd491357750 89 void setMultipleTargets(uint8_t count, uint8_t firstChannel, uint16_t* targets);
kochansky 5:0fd491357750 90
kochansky 5:0fd491357750 91 void setServosAngles(uint8_t count, uint8_t firstChannel, int8_t* angles);
kochansky 0:5c8cc5bd6403 92
kochansky 0:5c8cc5bd6403 93 /**
kochansky 2:39356b408262 94 * Limits the speed at which a servo channel's output value changes
kochansky 0:5c8cc5bd6403 95 *
kochansky 0:5c8cc5bd6403 96 * @param channel - number of a servo channel
kochansky 0:5c8cc5bd6403 97 * @param speed - speed of the servo in units of 0.25 μs / (10 ms)
kochansky 0:5c8cc5bd6403 98 */
kochansky 5:0fd491357750 99 void setSpeed(uint8_t channel, uint16_t speed);
kochansky 0:5c8cc5bd6403 100
kochansky 0:5c8cc5bd6403 101 /**
kochansky 2:39356b408262 102 * Limits the acceleration of a servo channel's output
kochansky 0:5c8cc5bd6403 103 *
kochansky 0:5c8cc5bd6403 104 * @param channel - number of a servo channel
kochansky 0:5c8cc5bd6403 105 * @param acceleration - acceleration of the servo in units of (0.25 μs) / (10 ms) / (80 ms)
kochansky 0:5c8cc5bd6403 106 */
kochansky 5:0fd491357750 107 void setAcceleration(uint8_t channel, uint16_t acceleration);
kochansky 5:0fd491357750 108
kochansky 5:0fd491357750 109 /**
kochansky 5:0fd491357750 110 * Sets the PWM output to the specified on time and period
kochansky 5:0fd491357750 111 *
kochansky 5:0fd491357750 112 * @param channel - number of a servo channel
kochansky 5:0fd491357750 113 * @param time - time in units of 1/48 μs
kochansky 5:0fd491357750 114 * @param period - period in units of 1/48 μs
kochansky 5:0fd491357750 115 */
kochansky 5:0fd491357750 116 void setPWM(uint8_t channel, uint16_t time, uint16_t period);
kochansky 5:0fd491357750 117
kochansky 5:0fd491357750 118 /**
kochansky 5:0fd491357750 119 * Gets current servo position
kochansky 5:0fd491357750 120 *
kochansky 5:0fd491357750 121 * @param channel - number of a servo channel
kochansky 5:0fd491357750 122 *
kochansky 5:0fd491357750 123 * @return - current pulse width that the Maestro is transmitting on the channel
kochansky 5:0fd491357750 124 */
kochansky 5:0fd491357750 125 uint16_t getPosition(uint8_t channel);
kochansky 5:0fd491357750 126
kochansky 5:0fd491357750 127 /**
kochansky 5:0fd491357750 128 * Determine whether the servo outputs have reached their targets or are still changing
kochansky 5:0fd491357750 129 *
kochansky 5:0fd491357750 130 * @return - true if servos are moving, false otherwise
kochansky 5:0fd491357750 131 */
kochansky 5:0fd491357750 132 bool getMovingState();
kochansky 5:0fd491357750 133
kochansky 5:0fd491357750 134 /**
kochansky 5:0fd491357750 135 * Examine the errors that the Maestro has detected
kochansky 5:0fd491357750 136 *
kochansky 5:0fd491357750 137 * @return - error bits
kochansky 5:0fd491357750 138 */
kochansky 5:0fd491357750 139 uint16_t getErrors();
kochansky 5:0fd491357750 140
kochansky 5:0fd491357750 141 /**
kochansky 5:0fd491357750 142 * Send all servos and outputs to their home positions
kochansky 5:0fd491357750 143 */
kochansky 5:0fd491357750 144 void goHome();
kochansky 1:c14b79e3f39b 145
kochansky 1:c14b79e3f39b 146 private:
kochansky 1:c14b79e3f39b 147
kochansky 1:c14b79e3f39b 148 Serial serial;
kochansky 3:1c654893354d 149 Serial pc;
kochansky 1:c14b79e3f39b 150 };
kochansky 0:5c8cc5bd6403 151
kochansky 0:5c8cc5bd6403 152 #endif // Maestro