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

Committer:
kochansky
Date:
2014-01-05
Revision:
4:ef4d23c023ea
Parent:
3:1c654893354d
Child:
5:0fd491357750

File content as of revision 4:ef4d23c023ea:

/**
 * @author Przemysław Kochański
 *
 * @section DESCRIPTION
 *
 * Library for Pololu Maestro Servo Controller
 * Serial Servo Commands: http://www.pololu.com/docs/0J40/5.e
 */

#ifndef MAESTRO
#define MAESTRO

#include "mbed.h"

/**
 * Compact Protocol Command Bytes
 */
#define SET_TARGET 0x84
#define SER_MULTUPLE_TARGETS 0x9F
#define SET_SPEED 0x87
#define SET_ACCELERATION 0x89
#define SET_PWM 0x8A
#define GET_POSITION 0x90
#define GET_MOVING_STATE 0x93
#define GET_ERRORS 0xA1
#define GO_HOME 0xA2
#define BAUD_RATE_IDICATION 0xAA

/**
 * Pololu Maestro Servo Controller
 */
class Maestro
{

public:

    /**
     * Constructor
     *
     * @param tx - mbed pin to use for TX serial line
     * @param rx - mbed pin to use for RX serial line
     */
    Maestro(PinName tx, PinName rx);

    /**
     * Sets baud rate
     *
     * @param baud - Baud Rate to be set
     */
    void setBaudRate(uint16_t baud);

    /**
     * Sets the target of a channel to a specified value
     *
     * @param channel - number a servo channel
     * @param target - the pulse width to transmit in units of quarter-microseconds
     */
    void setTarget(uint8_t channel, uint16_t target);

    /**
     * Sets specified channel's servo to a specified angle
     *
     * @param channel - number a servo channel
     * @param angle - target angle of a servo
     */
    void setServoAngle(uint8_t channel, int8_t angle);

    //void setMultipleTargets(int* channels, int* targets);

    /**
     * Limits the speed at which a servo channel's output value changes
     *
     * @param channel - number of a servo channel
     * @param speed - speed of the servo in units of 0.25 μs / (10 ms)
     */
    void setSpeed(int channel, int speed);

    /**
     * Limits the acceleration of a servo channel's output
     *
     * @param channel - number of a servo channel
     * @param acceleration - acceleration of the servo in units of (0.25 μs) / (10 ms) / (80 ms)
     */
    void setAcceleration(int channel, int acceleration);

private:

    Serial serial;
    Serial pc;
};

#endif // Maestro