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@10:f374c7b60318, 2014-08-26 (annotated)

Committer:
kochansky
Date:
Tue Aug 26 20:07:47 2014 +0000
Revision:
10:f374c7b60318
Parent:
9:a15ea85b40ca 
bug fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kochansky 0:5c8cc5bd6403 1 /**
kochansky 8:c952ac46bd39 2 * @author Przemyslaw Kochanski <przemyslaw@kochanski.biz>
kochansky 8:c952ac46bd39 3 *
kochansky 8:c952ac46bd39 4 * @Section LICENSE
kochansky 8:c952ac46bd39 5 *
kochansky 8:c952ac46bd39 6 * Copyright (C) 2014 Przemyslaw Kochanski, MIT License
kochansky 8:c952ac46bd39 7 *
kochansky 8:c952ac46bd39 8 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
kochansky 8:c952ac46bd39 9 * and associated documentation files (the "Software"), to deal in the Software without restriction,
kochansky 8:c952ac46bd39 10 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
kochansky 8:c952ac46bd39 11 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
kochansky 8:c952ac46bd39 12 * furnished to do so, subject to the following conditions:
kochansky 8:c952ac46bd39 13 *
kochansky 8:c952ac46bd39 14 * The above copyright notice and this permission notice shall be included in all copies or
kochansky 8:c952ac46bd39 15 * substantial portions of the Software.
kochansky 8:c952ac46bd39 16 *
kochansky 8:c952ac46bd39 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
kochansky 8:c952ac46bd39 18 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
kochansky 8:c952ac46bd39 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
kochansky 8:c952ac46bd39 20 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
kochansky 8:c952ac46bd39 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
kochansky 0:5c8cc5bd6403 22 *
kochansky 0:5c8cc5bd6403 23 * @section DESCRIPTION
kochansky 0:5c8cc5bd6403 24 *
kochansky 0:5c8cc5bd6403 25 * Library for Pololu Maestro Servo Controller
kochansky 0:5c8cc5bd6403 26 * Serial Servo Commands: http://www.pololu.com/docs/0J40/5.e
kochansky 0:5c8cc5bd6403 27 */
kochansky 0:5c8cc5bd6403 28
kochansky 0:5c8cc5bd6403 29 #ifndef MAESTRO
kochansky 0:5c8cc5bd6403 30 #define MAESTRO
kochansky 0:5c8cc5bd6403 31
kochansky 0:5c8cc5bd6403 32 #include "mbed.h"
kochansky 0:5c8cc5bd6403 33
kochansky 0:5c8cc5bd6403 34 /**
kochansky 0:5c8cc5bd6403 35 * Compact Protocol Command Bytes
kochansky 0:5c8cc5bd6403 36 */
kochansky 3:1c654893354d 37 #define SET_TARGET 0x84
kochansky 5:0fd491357750 38 #define SET_MULTIPLE_TARGETS 0x9F
kochansky 3:1c654893354d 39 #define SET_SPEED 0x87
kochansky 3:1c654893354d 40 #define SET_ACCELERATION 0x89
kochansky 3:1c654893354d 41 #define SET_PWM 0x8A
kochansky 3:1c654893354d 42 #define GET_POSITION 0x90
kochansky 3:1c654893354d 43 #define GET_MOVING_STATE 0x93
kochansky 3:1c654893354d 44 #define GET_ERRORS 0xA1
kochansky 3:1c654893354d 45 #define GO_HOME 0xA2
kochansky 3:1c654893354d 46 #define BAUD_RATE_IDICATION 0xAA
kochansky 0:5c8cc5bd6403 47
kochansky 0:5c8cc5bd6403 48 /**
kochansky 5:0fd491357750 49 * Errors bits numbers
kochansky 5:0fd491357750 50 */
kochansky 5:0fd491357750 51 #define SERIAL_SIGNAL_ERROR 0
kochansky 5:0fd491357750 52 #define SERIAL_OVERRUN_ERROR 1
kochansky 5:0fd491357750 53 #define SERIAL_RX_BUFFER_FULL_ERROR 2
kochansky 5:0fd491357750 54 #define SERIAL_CRC_ERROR 3
kochansky 5:0fd491357750 55 #define SERIAL_PROTOCOL_ERROR 4
kochansky 5:0fd491357750 56 #define SERIAL_TIMEOUT_ERROR 5
kochansky 5:0fd491357750 57 #define SCRIPT_STACK_ERROR 6
kochansky 5:0fd491357750 58 #define SCRIPT_CALL_STACK_ERROR 7
kochansky 5:0fd491357750 59 #define SCRIPT_PROGRAM_COUNTER_ERROR 8
kochansky 5:0fd491357750 60
kochansky 5:0fd491357750 61 /**
kochansky 0:5c8cc5bd6403 62 * Pololu Maestro Servo Controller
kochansky 0:5c8cc5bd6403 63 */
kochansky 0:5c8cc5bd6403 64 class Maestro
kochansky 0:5c8cc5bd6403 65 {
kochansky 0:5c8cc5bd6403 66
kochansky 1:c14b79e3f39b 67 public:
kochansky 0:5c8cc5bd6403 68
kochansky 0:5c8cc5bd6403 69 /**
kochansky 0:5c8cc5bd6403 70 * Constructor
kochansky 0:5c8cc5bd6403 71 *
kochansky 0:5c8cc5bd6403 72 * @param tx - mbed pin to use for TX serial line
kochansky 0:5c8cc5bd6403 73 * @param rx - mbed pin to use for RX serial line
kochansky 0:5c8cc5bd6403 74 */
kochansky 0:5c8cc5bd6403 75 Maestro(PinName tx, PinName rx);
kochansky 0:5c8cc5bd6403 76
kochansky 4:ef4d23c023ea 77 /**
kochansky 4:ef4d23c023ea 78 * Sets baud rate
kochansky 4:ef4d23c023ea 79 *
kochansky 4:ef4d23c023ea 80 * @param baud - Baud Rate to be set
kochansky 4:ef4d23c023ea 81 */
kochansky 4:ef4d23c023ea 82 void setBaudRate(uint16_t baud);
kochansky 3:1c654893354d 83
kochansky 0:5c8cc5bd6403 84 /**
kochansky 0:5c8cc5bd6403 85 * Sets the target of a channel to a specified value
kochansky 0:5c8cc5bd6403 86 *
kochansky 0:5c8cc5bd6403 87 * @param channel - number a servo channel
kochansky 0:5c8cc5bd6403 88 * @param target - the pulse width to transmit in units of quarter-microseconds
kochansky 0:5c8cc5bd6403 89 */
kochansky 3:1c654893354d 90 void setTarget(uint8_t channel, uint16_t target);
kochansky 0:5c8cc5bd6403 91
kochansky 4:ef4d23c023ea 92 /**
kochansky 4:ef4d23c023ea 93 * Sets specified channel's servo to a specified angle
kochansky 4:ef4d23c023ea 94 *
kochansky 4:ef4d23c023ea 95 * @param channel - number a servo channel
kochansky 4:ef4d23c023ea 96 * @param angle - target angle of a servo
kochansky 4:ef4d23c023ea 97 */
kochansky 4:ef4d23c023ea 98 void setServoAngle(uint8_t channel, int8_t angle);
kochansky 4:ef4d23c023ea 99
kochansky 5:0fd491357750 100 /**
kochansky 5:0fd491357750 101 * Simultaneously sets the targets for a contiguous block of channels
kochansky 5:0fd491357750 102 *
kochansky 5:0fd491357750 103 * @param count - number of channels in the contiguous block
kochansky 5:0fd491357750 104 * @param firstChannel - lowest channel number in the contiguous block
kochansky 5:0fd491357750 105 * @param target - target values (the pulse width to transmit in units of
kochansky 5:0fd491357750 106 * quarter-microseconds) for each of the channels, in order by channel number
kochansky 5:0fd491357750 107 */
kochansky 6:1d8357775b6d 108 void setMultipleTargets(uint8_t firstChannel, uint8_t count, uint16_t* targets);
kochansky 6:1d8357775b6d 109
kochansky 8:c952ac46bd39 110 /**
kochansky 8:c952ac46bd39 111 * Simultaneously sets specified contiguous block of servo channels to a specified angles
kochansky 8:c952ac46bd39 112 *
kochansky 8:c952ac46bd39 113 * @param count - number of servo channels in the contiguous block
kochansky 8:c952ac46bd39 114 * @param firstChannel - lowest servo channel number in the contiguous block
kochansky 8:c952ac46bd39 115 * @param angles - target values (the pulse width to transmit in units of
kochansky 8:c952ac46bd39 116 * quarter-microseconds) for each of the servo channels, in order by channel number
kochansky 8:c952ac46bd39 117 */
kochansky 6:1d8357775b6d 118 void setServosAngles(uint8_t firstChannel, uint8_t count, int8_t* angles);
kochansky 0:5c8cc5bd6403 119
kochansky 0:5c8cc5bd6403 120 /**
kochansky 2:39356b408262 121 * Limits the speed at which a servo channel's output value changes
kochansky 0:5c8cc5bd6403 122 *
kochansky 0:5c8cc5bd6403 123 * @param channel - number of a servo channel
kochansky 8:c952ac46bd39 124 * @param speed - speed of the servo in units of 0.25 us / (10 ms)
kochansky 0:5c8cc5bd6403 125 */
kochansky 5:0fd491357750 126 void setSpeed(uint8_t channel, uint16_t speed);
kochansky 9:a15ea85b40ca 127
kochansky 9:a15ea85b40ca 128 /**
kochansky 9:a15ea85b40ca 129 * Limits the speed at which all servos channels output value changes
kochansky 9:a15ea85b40ca 130 *
kochansky 9:a15ea85b40ca 131 * @param speed - speed of the servo in units of 0.25 us / (10 ms)
kochansky 9:a15ea85b40ca 132 */
kochansky 9:a15ea85b40ca 133 void setSpeed(uint16_t speed);
kochansky 0:5c8cc5bd6403 134
kochansky 0:5c8cc5bd6403 135 /**
kochansky 2:39356b408262 136 * Limits the acceleration of a servo channel's output
kochansky 0:5c8cc5bd6403 137 *
kochansky 0:5c8cc5bd6403 138 * @param channel - number of a servo channel
kochansky 8:c952ac46bd39 139 * @param acceleration - acceleration of the servo in units of (0.25 us) / (10 ms) / (80 ms)
kochansky 0:5c8cc5bd6403 140 */
kochansky 5:0fd491357750 141 void setAcceleration(uint8_t channel, uint16_t acceleration);
kochansky 9:a15ea85b40ca 142
kochansky 9:a15ea85b40ca 143 /**
kochansky 9:a15ea85b40ca 144 * Limits the acceleration of all servos channels output
kochansky 9:a15ea85b40ca 145 *
kochansky 9:a15ea85b40ca 146 * @param acceleration - acceleration of the servo in units of (0.25 us) / (10 ms) / (80 ms)
kochansky 9:a15ea85b40ca 147 */
kochansky 9:a15ea85b40ca 148 void setAcceleration(uint16_t acceleration);
kochansky 5:0fd491357750 149
kochansky 5:0fd491357750 150 /**
kochansky 5:0fd491357750 151 * Sets the PWM output to the specified on time and period
kochansky 5:0fd491357750 152 *
kochansky 5:0fd491357750 153 * @param channel - number of a servo channel
kochansky 8:c952ac46bd39 154 * @param time - time in units of 1/48 us
kochansky 8:c952ac46bd39 155 * @param period - period in units of 1/48 us
kochansky 5:0fd491357750 156 */
kochansky 5:0fd491357750 157 void setPWM(uint8_t channel, uint16_t time, uint16_t period);
kochansky 5:0fd491357750 158
kochansky 5:0fd491357750 159 /**
kochansky 5:0fd491357750 160 * Gets current servo position
kochansky 5:0fd491357750 161 *
kochansky 5:0fd491357750 162 * @param channel - number of a servo channel
kochansky 5:0fd491357750 163 *
kochansky 5:0fd491357750 164 * @return - current pulse width that the Maestro is transmitting on the channel
kochansky 5:0fd491357750 165 */
kochansky 5:0fd491357750 166 uint16_t getPosition(uint8_t channel);
kochansky 5:0fd491357750 167
kochansky 5:0fd491357750 168 /**
kochansky 5:0fd491357750 169 * Determine whether the servo outputs have reached their targets or are still changing
kochansky 5:0fd491357750 170 *
kochansky 5:0fd491357750 171 * @return - true if servos are moving, false otherwise
kochansky 5:0fd491357750 172 */
kochansky 5:0fd491357750 173 bool getMovingState();
kochansky 5:0fd491357750 174
kochansky 5:0fd491357750 175 /**
kochansky 5:0fd491357750 176 * Examine the errors that the Maestro has detected
kochansky 5:0fd491357750 177 *
kochansky 5:0fd491357750 178 * @return - error bits
kochansky 5:0fd491357750 179 */
kochansky 5:0fd491357750 180 uint16_t getErrors();
kochansky 5:0fd491357750 181
kochansky 5:0fd491357750 182 /**
kochansky 5:0fd491357750 183 * Send all servos and outputs to their home positions
kochansky 5:0fd491357750 184 */
kochansky 5:0fd491357750 185 void goHome();
kochansky 1:c14b79e3f39b 186
kochansky 1:c14b79e3f39b 187 private:
kochansky 1:c14b79e3f39b 188
kochansky 1:c14b79e3f39b 189 Serial serial;
kochansky 1:c14b79e3f39b 190 };
kochansky 0:5c8cc5bd6403 191
kochansky 7:18a57f597ec4 192 #endif // Maestro