Diff: MX12.cpp

Revision:

31:61f9fca504dd

Parent:

30:4e7cf52ac2dd

--- a/MX12.cpp	Fri Feb 04 09:22:50 2022 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,527 +0,0 @@
-/**
- * @file MX12.ccp
- * @brief This file contains all the methods of the MX12 class
- *        whose prototypes are in the MX12.h header file
- */
-
-#include "MX12.h"
-#include "math.h"
-
-MX12::MX12(PinName tx, PinName rx, int baud)
-    : _mx12(tx, rx)    // initializes UnbufferedSerial object
-{
-    /*  Serial bus setup
-     */
-    // // Set desired properties (baud-8-N-1)
-    _mx12.baud(baud);     /* modulation speed */
-    _mx12.format(
-        8,                /* bits */
-        SerialBase::None, /* parity */
-        1                 /* stop bit */
-    );
-    // Register a callback to process a Rx (receive) interrupt.
-    _mx12.attach(callback(this, &MX12::_Rx_interrupt), SerialBase::RxIrq);
-
-    // variable used for message reception
-    _status_pck = {.raw = "",
-                   .n_byte = 0,
-                   .servo_id = 0,
-                   .length = 0,
-                   .error = 0,
-                   .n_param = 0,
-                   .param = "",
-                   .received_checksum = 0,
-                   .calculated_checksum = 0,
-                   .parsed = false,
-                   .valid = false
-                  };
-
-    _parser_state = {.expected_field = PacketField::Header1,
-                     .byte_index = 0,
-                     .param_index = 0
-                    };
-
-    // Internal defaults states
-    _bus_state = SerialState::Idle;
-
-}
-
-void MX12::SetSpeed(unsigned char mot_id, float speed)
-{
-    char data[2];
-
-    // Speed absolute value
-    int goal = (0x3ff * abs(speed));
-
-    // Spin direction (CW is negative)
-    if (speed < 0) {
-        goal |= (0x1 << 10);
-    }
-
-    data[0] = goal & 0xff;
-    data[1] = goal >> 8;
-
-    // Send instruction
-    _bus_state = SerialState::Writing;
-    rw(mot_id, CONTROL_TABLE_MOVING_SPEED, 2, data);
-}
-
-void MX12::SetSpeed_rad_s(unsigned char mot_id, float speed)
-{
-    if (speed > MX12_ABSOLUTE_MAX_SPEED_RAD_S) {
-        SetSpeed(mot_id, 1);
-    } else if (speed < -MX12_ABSOLUTE_MAX_SPEED_RAD_S) {
-        SetSpeed(mot_id, -1);
-    } else {
-        SetSpeed(mot_id, speed / MX12_ABSOLUTE_MAX_SPEED_RAD_S);
-    }
-}
-
-char MX12::IsAvailable(void)
-{
-    return (_bus_state == SerialState::Idle);
-}
-
-void MX12::rw(unsigned char mot_id, char address, char len, char *data)
-{
-
-    /* Set variables for reception from servovotor */
-    _answer  = 0;
-    _status_pck = {.raw = "",
-                   .n_byte = 0,
-                   .servo_id = 0,
-                   .length = 0,
-                   .error = 0,
-                   .n_param = 0,
-                   .param = "",
-                   .received_checksum = 0,
-                   .calculated_checksum = 0,
-                   .parsed = false,
-                   .valid = false
-                  };
-    _parser_state = {.expected_field = PacketField::Header1,
-                     .byte_index = 0,
-                     .param_index = 0
-                    };
-
-
-    /* Initialise instruction packet to forge.
-     * Instruction Packet is the command data sent to the servomotor.
-     *
-     * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum|
-     * |-------|-------|---------|------|-----------|---------------|--------|
-     * |  0xFF |  0xFF |Packet ID|Length|Instruction|Param1...ParamN| CHKSUM |
-     * | cmd[0]| cmd[1]|  cmd[2] |cmd[3]|  cmd[4]   |cmd[5]...      |        |
-     *                  \__  ___/                    \_  _/ \__  __/
-     *                     \/           |              \/      \/            |
-     *                   mot_id         |           address   data           |
-     *                                  |                     (len = N-1)    |
-     *                                  \__________________  ________________/
-     *                                                     \/
-     *                                                  Length ( cmd[3] )
-     */
-    char packet[16];
-    unsigned char packet_length;
-
-    /* Initialise checksum to calculate
-     * It is used to check if packet is damaged during communication.
-     * Status Checksum is calculated according to the following formula:
-     *
-     * Status Checksum = ~( ID + Length + Error + Parameter1 + … Parameter N )
-     */
-    char checksum = 0x00;
-
-    /* header 1 = 0xFF (dynamixel protocol 1.0) */
-    packet[0] = 0xff;
-
-    /* header 2 = 0xFF (dynamixel protocol 1.0) */
-    packet[1] = 0xff;
-
-    /* packet ID i.e. servomotor id (dynamixel protocol 1.0) */
-    packet[2] = mot_id;
-    checksum += packet[2];
-
-    /* Guess instruction type. NULL for read, not NULL for write */
-    if(data == NULL) { // read instruction
-        /* byte length of the instruction: parameter and checksum field.   */
-        /* for read instruction:   1 INSTR +                               */
-        /*       2 PARAM (starting address, length of data) + 1 CHKSUM     */
-        packet[3] = 4;
-        checksum += packet[3];
-
-        /* set write instruction */
-        packet[4] = PROTOCOL_INSTRUCTION_READ;
-        checksum += packet[4];
-
-        /* Param 1: address to read in the Control Table of RAM Area */
-        packet[5] = address;
-        checksum += packet[5];
-
-        /* Param 2: number of bytes to read in the Control Table of RAM Area */
-        packet[6] = len;
-        checksum += packet[6];
-
-        /* Checksum = ~( ID + Length + Instruction + Param1 + … Param N ) */
-        packet[7] = ~checksum;
-
-        packet_length = 8;
-    } else { // write instruction
-        /* byte length of the instruction: parameter and checksum field     */
-        /* For write instruction:   1 INSTR +                               */
-        /*       (1+len)PARAM (starting Address, bytes to write) + 1 CHKSUM */
-        packet[3] = 3 + len;
-        checksum += packet[3];
-
-        /* set read instruction */
-        packet[4] = PROTOCOL_INSTRUCTION_WRITE;
-        checksum += packet[4];
-
-        /* Param 1: address to write in the "Control Table of RAM Area" */
-        packet[5] = address;
-        checksum += packet[5];
-
-        /* Param 2 to N: data to write in the Control Table of RAM Area */
-        for(char i = 0; i < len; i++) {
-            packet[6 + i] = data[i];
-            checksum += data[i];
-        }
-
-        /* Checksum = ~( ID + Length + Instruction + Param1 + … Param N ) */
-        packet[6 + len] = ~checksum;
-
-        packet_length = 7 + len;
-    }
-
-    // Send packet
-    if(mot_id != 0xFE) {
-        for(char i = 0; i < packet_length; i++) {
-            _mx12.write(&packet[i], 1);
-        }
-    }
-}
-
-// Debug function to print Serial read
-void MX12::PrintSerial()
-{
-    for(int i = 0; i < _status_pck.n_byte; i++) {
-        printf("%x ", _status_pck.raw[i]);
-    }
-    printf("\n");
-}
-
-char MX12::ReadSerial()
-{
-    char data;
-    for(int i = 0; i < _status_pck.n_byte; i++) {
-    }
-    return data;
-}
-
-MX12::Status MX12::GetStatus()
-{
-    // Return the corresponding status code
-    switch(_status_pck.error) {
-        case 0:
-            return Ok;
-            break;
-        case 1 << 0:
-            return InputVoltageError;
-            break;
-        case 1 << 1:
-            return AngleLimitError;
-            break;
-        case 1 << 2:
-            return OverheatingError;
-            break;
-        case 1 << 3:
-            return RangeError;
-            break;
-        case 1 << 4:
-            return ChecksumError;
-            break;
-        case 1 << 5:
-            return OverloadError;
-            break;
-        case 1 << 6:
-            return InstructionError;
-            break;
-        default:
-            return Unknown;
-    }
-}
-
-void MX12::_Rx_interrupt()
-{
-
-    char c;
-
-    // Try to read serial
-    if(_mx12.read(&c, 1)) {
-
-        _status_pck.raw[(_parser_state.byte_index)++] = c;
-
-        // State-machine parsing
-        switch(_parser_state.expected_field) {
-
-            /* c char is interpreted as a Header1 field */
-            case PacketField::Header1:
-
-                /* do nothing and set next state to Header2 */
-                _parser_state.expected_field = PacketField::Header2;
-                break;
-
-            /* c char is interpreted as a Header2 field */
-            case PacketField::Header2:
-
-                /* do nothing and set next state to Id */
-                _parser_state.expected_field = PacketField::Id;
-                break;
-
-            /* c char is interpreted as ID field */
-            case PacketField::Id:
-
-                /* store ID, update checksum and set next state to Length */
-                _status_pck.servo_id = c;
-                _status_pck.calculated_checksum += c;
-                _parser_state.expected_field = PacketField::Length;
-                break;
-
-            /* c char is interpreted as length of message data field
-             * Length = number of Parameters + 2
-             * where 2 stands for Length field (1 byte) + Error filed (1 byte)
-             */
-            case PacketField::Length:
-
-                /* store number of param into _status_pck.n_param,
-                 * update calculated_checksum and set next state to Error
-                 */
-                _status_pck.n_param = c - 2;
-                _status_pck.calculated_checksum += c;
-                _parser_state.expected_field = PacketField::Error;
-                break;
-
-            /* c char is interpreted as error status field */
-            case PacketField::Error:
-
-                /* store error status, update checksum
-                 * and set next state to Data
-                 */
-                _status_pck.error = c;
-                _status_pck.calculated_checksum += c;
-                _parser_state.expected_field = PacketField::Data;
-                break;
-
-            /* c char is interpreted as a param field */
-            case PacketField::Data:
-
-                /* store current param, increase param_index
-                 * and update checksum */
-                _status_pck.param[(_parser_state.param_index)++] = c;
-                _status_pck.received_checksum += c;
-
-                /* increase param index (_parser_state.dataCount)
-                 * and test if it is the last param to read
-                 */
-                if(_parser_state.param_index > _status_pck.n_param) {
-                    /* reset param index and set next state to Checksum */
-                    _parser_state.param_index = 0;
-                    _parser_state.expected_field = PacketField::Checksum;
-                }
-                break;
-
-            /* c char is interpreted as Checksum field */
-            case PacketField::Checksum:
-
-                /* store received_checksum, set parsed, store n_byte,
-                 * evalutate valid and set next state to Header1 */
-                _status_pck.received_checksum = c;
-                _status_pck.parsed = true;
-                _status_pck.n_byte = _parser_state.byte_index;
-                _status_pck.valid = (_status_pck.received_checksum == c);
-                _parser_state.expected_field = PacketField::Header1;
-
-                /* set seriel state to Idle */
-                _bus_state = SerialState::Idle;
-                break;
-
-            default:
-
-                /* unexpected case. If it occurs it would be due to a
-                 * code error of this class  */
-                break;
-        }
-    }
-}
-
-/* Code from previous version of the class */
-
-/*
-void MX12::ReadPosition(unsigned char mot_id) {
-    // Make a request, interrupt takes care of everything else
-    _state = State::ReadingPosition;
-    rw(mot_id, 0x24, 2, NULL);
-}
-
-float MX12::GetPosition(unsigned char mot_id) {
-    return _angle[mot_id];
-}
-*/
-
-
-
-
-
-
-void MX12::cmd_moteur(float Vavance, float Vlat, float Wz)
-{
-    // mettre en mode wh
-    char data[2];
-    data[1] = 0;
-    data[0] = 0;
-    _bus_state = SerialState::Writing;
-    rw(1, CONTROL_TABLE_CW_ANGLE_LIMIT, 2, data);
-    rw(2, CONTROL_TABLE_CW_ANGLE_LIMIT, 2, data);
-    rw(3, CONTROL_TABLE_CW_ANGLE_LIMIT, 2, data);
-
-
-    _bus_state = SerialState::Writing;
-    rw(1, CONTROL_TABLE_CCW_ANGLE_LIMIT, 2, data);
-    rw(2, CONTROL_TABLE_CCW_ANGLE_LIMIT, 2, data);
-    rw(3, CONTROL_TABLE_CCW_ANGLE_LIMIT, 2, data);
-
-    float W1;
-    float W2;
-    float W3;
-    float Rc;
-    float R;
-    float x1;
-    float x2;
-    float x3;
-    float y1;
-    float y2;
-    float y3;
-    float a1;
-    float a2;
-    float a3;
-    Rc=0.08;  // rayon du chassis*10
-    R=0.019;  // rayon de la roue*10
-    W1=0;
-    W2=0;
-    W3=0;
-    a1 = 4.74 ;
-    a2 = 0.5;
-    a3 = 2.64;
-    x1 = -0.0024;
-    x2 = 0.0625;
-    x3 = -0.0643;
-    y1 = -0.073;
-    y2 = 0.0361;
-    y3 = 0.037;
-    //Vtm_smax=0.8; //sert pour calculer valeurs -999->999
-    //Vnm_smax=0.9;
-    //Wcrd_smax=2.9;
-    //if (Vtm_s>Vtm_smax)
-    // {Vtm_s=Vtm_smax;}
-    //if (Vnm_s>Vnm_smax)
-    //  {Vnm_s=Vnm_smax;}
-    //if (Wcrd_s>Wcrd_smax)
-    //  {Wcrd_s=Wcrd_smax;}
-    //if (Wcrd_s<-Wcrd_smax)
-    //  {Wcrd_s=-Wcrd_smax;}
-
-    W1=1/R*(-cosf(a1)*Vavance + sinf(a1)*y1*Wz - sinf(a1)*Vlat + cosf(a1)*x1*Wz); //loi de commande moteur 1
-    W2=1/R*(-cosf(a2)*Vavance + sinf(a2)*y2*Wz - sinf(a2)*Vlat + cosf(a2)*x2*Wz);
-    W3=1/R*(-cosf(a3)*Vavance + sinf(a3)*y3*Wz - sinf(a3)*Vlat + cosf(a3)*x3*Wz);
-    printf("%d %d %dn\r",(int)(1000*W1),(int)(1000*W2),(int)(1000*W3));
-
-
-    SetSpeed_rad_s(1,W1);  // impose la vitesse au moteur 1
-    SetSpeed_rad_s(2,W2);
-    SetSpeed_rad_s(3,W3);
-
-
-
-}
-
-void MX12::cmd_moteur_rampe_unitaire(int id_moteur, float w_moteur, int step, float time)
-{
-
-}
-
-void MX12::eteindre_moteurs()
-{
-    char data[1];
-
-    data[0] = 0;
-
-
-    // Send instruction
-    _bus_state = SerialState::Writing;
-    rw(1, CONTROL_TABLE_TORQUE_ENABLE, 1, data);
-    _bus_state = SerialState::Writing;
-    rw(2, CONTROL_TABLE_TORQUE_ENABLE, 1, data);
-    _bus_state = SerialState::Writing;
-    rw(3, CONTROL_TABLE_TORQUE_ENABLE, 1, data);
-}
-
-
-
-void MX12::cmd_moteur_multiturn(float pos1, float pos2, float pos3)
-{
-    // eteindre les moteurs
-    eteindre_moteurs();
-    // mettre en mode multiturn
-    char data[2];
-    data[1] = 255;
-    data[0] = 15;
-    _bus_state = SerialState::Writing;
-    rw(1, CONTROL_TABLE_CW_ANGLE_LIMIT, 2, data);
-    rw(2, CONTROL_TABLE_CW_ANGLE_LIMIT, 2, data);
-    rw(3, CONTROL_TABLE_CW_ANGLE_LIMIT, 2, data);
-
-
-    _bus_state = SerialState::Writing;
-    rw(1, CONTROL_TABLE_CCW_ANGLE_LIMIT, 2, data);
-    rw(2, CONTROL_TABLE_CCW_ANGLE_LIMIT, 2, data);
-    rw(3, CONTROL_TABLE_CCW_ANGLE_LIMIT, 2, data);
-
-    //relever la position
-    int pas1 = pos1-28672/60;
-    int pas2 = pos2-28672/60;
-    int pas3 = pos3-28672/60;
-
-    for (int i = 0; i < 61; i++) {
-        int goal_position1 = i * pas1 - 28672;
-        if (goal_position1 < 0) {
-            goal_position1 = goal_position1 + 28627 + 36864;
-        }
-        char data1[2];
-        data1[1] = goal_position1%256;
-        data1[0] = goal_position1/256;
-
-        int goal_position2 = i * pas2 - 28672;
-        if (goal_position2 < 0) {
-            goal_position2 = goal_position2 + 28627 + 36864;
-        }
-        char data2[2];
-        data2[1] = goal_position2%256;
-        data2[0] = goal_position2/256;
-
-        int goal_position3 = i * pas3 - 28672;
-        if (goal_position3 < 0) {
-            goal_position3 = goal_position3 + 28627 + 36864;
-        }
-        char data3[2];
-        data3[1] = goal_position3%256;
-        data3[0] = goal_position3/256;
-
-        rw(1, CONTROL_TABLE_GOAL_POSITION, 2, data1);
-        thread_sleep_for(60);
-        rw(2, CONTROL_TABLE_GOAL_POSITION, 2, data2);
-        thread_sleep_for(60);
-        rw(3, CONTROL_TABLE_GOAL_POSITION, 2, data3);
-        thread_sleep_for(60);
-
-        thread_sleep_for(1000);
-    }
-}