MRD Lab / MX12

Robotis Dynamixel MX-12W Servo Library

Dependents:   SpindleBot_1_5b Utilisatio_MX12_V4

/media/uploads/labmrd/mx12.jpg

This is my attempt to adapt Chris Styles's AX12 library to work with my Dynamixel MX12 servos. This library is still very much a work in progress, and it may have some/many errors in it, but hopefully I will keep improving it to bring it up to snuff.

Dynamixel aficionados should also check out This MX28 library for a completely separate library that provides very similar functionality, and I wish I had known it existed before I started my work...

minimal example

#include "mbed.h"
#include "MX12.h"

int main() {

  MX12 mymx12 (p9, p10, 1);           // ID=1

  while (1) {
      mymx12.Set_Goal_Position(0);    // go to 0 degrees
      wait (2.0);
      mymx12.Set_Goal_Position(300);  // go to 300 degrees
      wait (2.0);
  }
}

MX12.h@0:29900c3a4a50, 2014-11-25 (annotated)

Committer:
labmrd
Date:
Tue Nov 25 03:07:36 2014 +0000
Revision:
0:29900c3a4a50
Child:
1:946a27210553
Adapting AX12 library to include more MX12 commands

Who changed what in which revision?

UserRevisionLine numberNew contents of line
labmrd 0:29900c3a4a50 1 /* mbed AX-12+ Servo Library
labmrd 0:29900c3a4a50 2 *
labmrd 0:29900c3a4a50 3 * Copyright (c) 2010, cstyles (http://mbed.org)
labmrd 0:29900c3a4a50 4 *
labmrd 0:29900c3a4a50 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
labmrd 0:29900c3a4a50 6 * of this software and associated documentation files (the "Software"), to deal
labmrd 0:29900c3a4a50 7 * in the Software without restriction, including without limitation the rights
labmrd 0:29900c3a4a50 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
labmrd 0:29900c3a4a50 9 * copies of the Software, and to permit persons to whom the Software is
labmrd 0:29900c3a4a50 10 * furnished to do so, subject to the following conditions:
labmrd 0:29900c3a4a50 11 *
labmrd 0:29900c3a4a50 12 * The above copyright notice and this permission notice shall be included in
labmrd 0:29900c3a4a50 13 * all copies or substantial portions of the Software.
labmrd 0:29900c3a4a50 14 *
labmrd 0:29900c3a4a50 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
labmrd 0:29900c3a4a50 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
labmrd 0:29900c3a4a50 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
labmrd 0:29900c3a4a50 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
labmrd 0:29900c3a4a50 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
labmrd 0:29900c3a4a50 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
labmrd 0:29900c3a4a50 21 * THE SOFTWARE.
labmrd 0:29900c3a4a50 22 */
labmrd 0:29900c3a4a50 23
labmrd 0:29900c3a4a50 24 #ifndef MBED_MX12_H
labmrd 0:29900c3a4a50 25 #define MBED_MX12_H
labmrd 0:29900c3a4a50 26
labmrd 0:29900c3a4a50 27 #include "mbed.h"
labmrd 0:29900c3a4a50 28
labmrd 0:29900c3a4a50 29 #define MX12_WRITE_DEBUG 1
labmrd 0:29900c3a4a50 30 #define MX12_READ_DEBUG 1
labmrd 0:29900c3a4a50 31 #define MX12_TRIGGER_DEBUG 1
labmrd 0:29900c3a4a50 32 #define MX12_DEBUG 1
labmrd 0:29900c3a4a50 33
labmrd 0:29900c3a4a50 34 #define MX12_REG_ID 0x3
labmrd 0:29900c3a4a50 35 #define MX12_REG_CW_LIMIT 0x06
labmrd 0:29900c3a4a50 36 #define MX12_REG_CCW_LIMIT 0x08
labmrd 0:29900c3a4a50 37 #define MX12_REG_GOAL_POSITION 0x1E
labmrd 0:29900c3a4a50 38 #define MX12_REG_MOVING_SPEED 0x20
labmrd 0:29900c3a4a50 39 #define MX12_REG_VOLTS 0x2A
labmrd 0:29900c3a4a50 40 #define MX12_REG_TEMP 0x2B
labmrd 0:29900c3a4a50 41 #define MX12_REG_MOVING 0x2E
labmrd 0:29900c3a4a50 42 #define MX12_REG_POSITION 0x24
labmrd 0:29900c3a4a50 43
labmrd 0:29900c3a4a50 44 #define MX12_MODE_POSITION 0
labmrd 0:29900c3a4a50 45 #define MX12_MODE_ROTATION 1
labmrd 0:29900c3a4a50 46
labmrd 0:29900c3a4a50 47 #define MX12_CW 1
labmrd 0:29900c3a4a50 48 #define MX12_CCW 0
labmrd 0:29900c3a4a50 49
labmrd 0:29900c3a4a50 50 #define MAX_DELAY_BETWEEN_CHARCTERS_IN_MS 10
labmrd 0:29900c3a4a50 51
labmrd 0:29900c3a4a50 52 /** Servo control class, based on a PwmOut
labmrd 0:29900c3a4a50 53 *
labmrd 0:29900c3a4a50 54 * Example:
labmrd 0:29900c3a4a50 55 * @code
labmrd 0:29900c3a4a50 56 * #include "mbed.h"
labmrd 0:29900c3a4a50 57 * #include "MX12.h"
labmrd 0:29900c3a4a50 58 *
labmrd 0:29900c3a4a50 59 * int main() {
labmrd 0:29900c3a4a50 60 *
labmrd 0:29900c3a4a50 61 * MX12 mymx12 (p9, p10, 1);
labmrd 0:29900c3a4a50 62 *
labmrd 0:29900c3a4a50 63 * while (1) {
labmrd 0:29900c3a4a50 64 * mymx12.SetGoal(0); // go to 0 degrees
labmrd 0:29900c3a4a50 65 * wait (2.0);
labmrd 0:29900c3a4a50 66 * mymx12.SetGoal(300); // go to 300 degrees
labmrd 0:29900c3a4a50 67 * wait (2.0);
labmrd 0:29900c3a4a50 68 * }
labmrd 0:29900c3a4a50 69 * }
labmrd 0:29900c3a4a50 70 * @endcode
labmrd 0:29900c3a4a50 71 */
labmrd 0:29900c3a4a50 72 class MX12 {
labmrd 0:29900c3a4a50 73
labmrd 0:29900c3a4a50 74 public:
labmrd 0:29900c3a4a50 75
labmrd 0:29900c3a4a50 76 /** Create an MX12 servo object connected to the specified serial port, with the specified ID
labmrd 0:29900c3a4a50 77 *
labmrd 0:29900c3a4a50 78 * @param pin tx pin
labmrd 0:29900c3a4a50 79 * @param pin rx pin
labmrd 0:29900c3a4a50 80 * @param int ID, the Bus ID of the servo 1-255
labmrd 0:29900c3a4a50 81 */
labmrd 0:29900c3a4a50 82 MX12(PinName tx, PinName rx, int ID);
labmrd 0:29900c3a4a50 83
labmrd 0:29900c3a4a50 84 /** Set the mode of the servo
labmrd 0:29900c3a4a50 85 * @param mode
labmrd 0:29900c3a4a50 86 * 0 = Positional, default
labmrd 0:29900c3a4a50 87 * 1 = Continuous rotation
labmrd 0:29900c3a4a50 88 */
labmrd 0:29900c3a4a50 89 int SetMode(int mode);
labmrd 0:29900c3a4a50 90
labmrd 0:29900c3a4a50 91 /** Set goal angle in integer degrees, in positional mode
labmrd 0:29900c3a4a50 92 *
labmrd 0:29900c3a4a50 93 * @param degrees 0-300
labmrd 0:29900c3a4a50 94 * @param flags, defaults to 0
labmrd 0:29900c3a4a50 95 * flags[0] = blocking, return when goal position reached
labmrd 0:29900c3a4a50 96 * flags[1] = register, activate with a broadcast trigger
labmrd 0:29900c3a4a50 97 *
labmrd 0:29900c3a4a50 98 */
labmrd 0:29900c3a4a50 99 int SetGoal(float radians, int flags = 0);
labmrd 0:29900c3a4a50 100
labmrd 0:29900c3a4a50 101
labmrd 0:29900c3a4a50 102 /** Set the speed of the servo in continuous rotation mode
labmrd 0:29900c3a4a50 103 *
labmrd 0:29900c3a4a50 104 * @param speed, -1.0 to 1.0
labmrd 0:29900c3a4a50 105 * -1.0 = full speed counter clock wise
labmrd 0:29900c3a4a50 106 * 1.0 = full speed clock wise
labmrd 0:29900c3a4a50 107 */
labmrd 0:29900c3a4a50 108 int SetCRSpeed(float speed);
labmrd 0:29900c3a4a50 109
labmrd 0:29900c3a4a50 110
labmrd 0:29900c3a4a50 111 /** Set the clockwise limit of the servo
labmrd 0:29900c3a4a50 112 *
labmrd 0:29900c3a4a50 113 * @param degrees, 0-300
labmrd 0:29900c3a4a50 114 */
labmrd 0:29900c3a4a50 115 int SetCWLimit(int degrees);
labmrd 0:29900c3a4a50 116
labmrd 0:29900c3a4a50 117 /** Set the counter-clockwise limit of the servo
labmrd 0:29900c3a4a50 118 *
labmrd 0:29900c3a4a50 119 * @param degrees, 0-300
labmrd 0:29900c3a4a50 120 */
labmrd 0:29900c3a4a50 121 int SetCCWLimit(int degrees);
labmrd 0:29900c3a4a50 122
labmrd 0:29900c3a4a50 123 // Change the ID
labmrd 0:29900c3a4a50 124
labmrd 0:29900c3a4a50 125 /** Change the ID of a servo
labmrd 0:29900c3a4a50 126 *
labmrd 0:29900c3a4a50 127 * @param CurentID 1-255
labmrd 0:29900c3a4a50 128 * @param NewID 1-255
labmrd 0:29900c3a4a50 129 *
labmrd 0:29900c3a4a50 130 * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
labmrd 0:29900c3a4a50 131 * In this situation, only one servo should be connected to the bus
labmrd 0:29900c3a4a50 132 */
labmrd 0:29900c3a4a50 133 int SetID(int CurrentID, int NewID);
labmrd 0:29900c3a4a50 134
labmrd 0:29900c3a4a50 135
labmrd 0:29900c3a4a50 136 /** Poll to see if the servo is moving
labmrd 0:29900c3a4a50 137 *
labmrd 0:29900c3a4a50 138 * @returns true is the servo is moving
labmrd 0:29900c3a4a50 139 */
labmrd 0:29900c3a4a50 140 int isMoving(void);
labmrd 0:29900c3a4a50 141
labmrd 0:29900c3a4a50 142 /** Send the broadcast "trigger" command, to activate any outstanding registered commands
labmrd 0:29900c3a4a50 143 */
labmrd 0:29900c3a4a50 144 void trigger(void);
labmrd 0:29900c3a4a50 145
labmrd 0:29900c3a4a50 146 /** Read the current angle of the servo
labmrd 0:29900c3a4a50 147 *
labmrd 0:29900c3a4a50 148 * @returns float in the range 0.0-300.0
labmrd 0:29900c3a4a50 149 */
labmrd 0:29900c3a4a50 150 float GetPosition();
labmrd 0:29900c3a4a50 151
labmrd 0:29900c3a4a50 152 /** Read the temperature of the servo
labmrd 0:29900c3a4a50 153 *
labmrd 0:29900c3a4a50 154 * @returns float temperature
labmrd 0:29900c3a4a50 155 */
labmrd 0:29900c3a4a50 156 float GetTemp(void);
labmrd 0:29900c3a4a50 157
labmrd 0:29900c3a4a50 158 /** Read the supply voltage of the servo
labmrd 0:29900c3a4a50 159 *
labmrd 0:29900c3a4a50 160 * @returns float voltage
labmrd 0:29900c3a4a50 161 */
labmrd 0:29900c3a4a50 162 float GetVolts(void);
labmrd 0:29900c3a4a50 163
labmrd 0:29900c3a4a50 164 private :
labmrd 0:29900c3a4a50 165
labmrd 0:29900c3a4a50 166 SerialHalfDuplex _mx12;
labmrd 0:29900c3a4a50 167 int _ID;
labmrd 0:29900c3a4a50 168
labmrd 0:29900c3a4a50 169 int read(int ID, int start, int length, char* data);
labmrd 0:29900c3a4a50 170 int write(int ID, int start, int length, char* data, int flag=0);
labmrd 0:29900c3a4a50 171
labmrd 0:29900c3a4a50 172 };
labmrd 0:29900c3a4a50 173
labmrd 0:29900c3a4a50 174 #endif