Diff: MX12.h

Revision:

31:61f9fca504dd

Parent:

30:4e7cf52ac2dd

--- a/MX12.h	Fri Feb 04 09:22:50 2022 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,410 +0,0 @@
-/**  
- * @file MX12.h
- * @brief this header file contains all required definitions and 
- *        basic utilities functions to manage au bus of servomotor 
- *        Dynaminel MX12
- */ 
-#ifndef MBED_MX12_H_
-#define MBED_MX12_H_
-
-#include "mbed.h"
-
-#define MX12_PACKET_MAX_SIZE 32
-#define MX12_MAX_MOTOR_COUNT 16
-
-#define MX12_SPEED_QUANTA_RPM 0.916 /* Data from MX12 e-manual */
-#define MX12_ABSOLUTE_MAX_SPEED_RAD_S 98.13
-
-
-
-/* Dynamixel protocol v1.0 : Instructions
- ******************************************/
-#define PROTOCOL_INSTRUCTION_PING          0x01
-#define PROTOCOL_INSTRUCTION_READ          0x02
-#define PROTOCOL_INSTRUCTION_WRITE         0x03
-#define PROTOCOL_INSTRUCTION_REG_WRITE     0x04
-#define PROTOCOL_INSTRUCTION_ACTION        0x05
-#define PROTOCOL_INSTRUCTION_FACTORY_RESET 0x06
-#define PROTOCOL_INSTRUCTION_REBOOT        0x08
-#define PROTOCOL_INSTRUCTION_SYNC_WRITE    0x83
-#define PROTOCOL_INSTRUCTION_BULK_READ     0x92
-
-/* Dynamixel protocol v1.0 : Contro table content
- ************************************************/
-#define CONTROL_TABLE_MODEL_NUMBER            0
-#define CONTROL_TABLE_FIRMWARE_VERSION        2 
-#define CONTROL_TABLE_ID                      3
-#define CONTROL_TABLE_BAUD_RATE               4
-#define CONTROL_TABLE_RETURN_DELAY_TIME       5
-#define CONTROL_TABLE_CW_ANGLE_LIMIT          6
-#define CONTROL_TABLE_CCW_ANGLE_LIMIT         8
-#define CONTROL_TABLE_TEMPERATURE_LIMIT      11
-#define CONTROL_TABLE_MIN_VOLTAGE_LIMIT      12
-#define CONTROL_TABLE_MAX_VOLTAGE_LIMIT      13
-#define CONTROL_TABLE_MAX_TORQUE             14
-#define CONTROL_TABLE_STATUS_RETURN_LEVEL    16
-#define CONTROL_TABLE_ALARM_LED              17
-#define CONTROL_TABLE_SHUTDOWN               18
-#define CONTROL_TABLE_MULTITURN_OFFSET       20
-#define CONTROL_TABLE_RESOLUTION_DIVIDER     22
-#define CONTROL_TABLE_TORQUE_ENABLE          24
-#define CONTROL_TABLE_LED                    25
-#define CONTROL_TABLE_P_GAIN                 26
-#define CONTROL_TABLE_I_GAIN                 27
-#define CONTROL_TABLE_D_GAIN                 28
-#define CONTROL_TABLE_GOAL_POSITION          30
-#define CONTROL_TABLE_MOVING_SPEED           32
-#define CONTROL_TABLE_TORQUE_LIMIT           34
-#define CONTROL_TABLE_PRESENT_POSITION       36
-#define CONTROL_TABLE_PRESENT_SPEED          38
-#define CONTROL_TABLE_PRESENT_LOAD           40
-#define CONTROL_TABLE_PRESENT_VOLTAGE        42
-#define CONTROL_TABLE_PRESENT_TEMPERATURE    43
-#define CONTROL_TABLE_REGISTRED_INSTRUCTION  44
-#define CONTROL_TABLE_MOVING                 46
-#define CONTROL_TABLE_LOCK                   47
-#define CONTROL_TABLE_PUNCH                  48
-#define CONTROL_TABLE_GOAL_ACCELERATION      73
-
-/** 
- * @brief Class to communicate with Dynamixel MX12 servomotors
- *
- * @details
- *
- *   The servomotors are daisy chained to a serial link of the target 
- *   microcontroller. The class ensures the initialization of serial link 
- *   and the management of communications mainly to control rotational
- *   speed of servomotors. 
- *
- *   Transmission of messages to the servomotors is blocking while 
- *   reception is non-blocking thanks to the use of an interrupt routine. 
- * 
- * @author Titouan Soulard (creator and maintainer until April 2021)
- * @author Bruno Denis (Doxygen documentation and code rearrangement)
- *  
- * @see Control table of Dynamixel MX12 servomotor 
- * @see https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/
- * @see Dynamixel protocol v1.0 manual
- * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
- *
- * Example of class usage to send two instruction packets to servomotor #1
- * with one second gap. First ask to move at 10% of maximum speed and the 
- * stop the movement.
- *
- * @code
- * #include "mbed.h"
- * #include "MX12.h"
- * 
- * #define SERVO_TX_PIN PC_4
- * #define SERVO_RX_PIN PC_5
- * #define SERVO_BAUD 115200
- * #define SERVO_ID 1
- * 
- * #define DELAY_1000ms 1000
- * #define DELAY_1ms       1
- * 
- * MX12 servo_bus(SERVO_TX_PIN, SERVO_RX_PIN, SERVO_BAUD);
- * float relative_speed;
- * 
- * int main()
- * {
- *     // Set speed of SERVO_ID servomotor to 10% 
- *     // Send on servo_bus to SERVO_ID motor the instruction "moving speed"
- *     // with parameter 0.1 (10% of maximum speed)
- *     relative_speed = 0.1; 
- *     servo_bus.SetSpeed(SERVO_ID, relative_speed);
- *         
- *     // wait for one second
- *     thread_sleep_for(DELAY_1000ms);
- *     
- *     // set speed of SERVO_ID servomotor to 0% 
- *     relative_speed = 0.0; 
- *     servo_bus.SetSpeed(SERVO_ID, relative_speed);
- * 
- *     // infinite loop 
- *     while (true) thread_sleep_for(DELAY_1000ms);
- * }
- * @endcode
- *
- * @warning
- *   Warning: receipt of packets from servomotors has not been tested 
- *   (hardwre problem). However, sending move speed instruction is operational.
- *
- * @warning
- *   Warning: Error field of status packet if decoded by GetStatus() returns
- *   an enumation type "Status". As several errors can be reported
- *   simultaneously the type enum is not suitable (B. Denis 11/2021).
- *
- * @bug
- *   Bug: GetStatus() method has a hazardous behavior because it provides 
- *   a result by reading the content of the variable _current_frame 
- *   which can be modified at any time by the private ISR _Rx_interrupt().
- *    
- */
-class MX12 
-{
-    public:
-    
-    /** Error status occurred during the operation of servomotor.
-     *
-     * @warning 
-     *    Enumaration type is not suitable for all error status because
-     *    it can denote only one error at a time (B. Denis 11/2021)
-     */
-    enum Status {
-        InstructionError,  /**<  In case of sending an undefined instruction 
-                                 or delivering the action instruction 
-                                 without the Reg Write instruction */
-        OverloadError,     /**<  When the current load cannot be controlled 
-                                 by the set Torque */
-        ChecksumError,     /**<  When the Checksum of the transmitted 
-                                 Instruction Packet is incorrect */
-        RangeError,        /**<  When an instruction is out of the range 
-                                 for use */
-        OverheatingError,  /**<  When internal temperature of servomotor 
-                                 is out of the range of operating 
-                                 temperature set in the Control table */
-        AngleLimitError,   /**<  When Goal Position is written out of the 
-                                 range from CW Angle Limit to CCW Angle 
-                                 Limit */
-        InputVoltageError, /**<  When the applied voltage is out of the 
-                                 range of operating voltage set in the 
-                                 Control table */
-        Unknown,           /**<  Combination of several errors (Caution: 
-                                 limit of enum approach to code errors) */
-        Ok                 ///<  no error
-    };
-    
-    /** Enumeration of states of the medium acces control (MAC) 
-     *  of the master-slave protocol of the communication between  
-     *  the robot controller (master) and the servomotors (slaves).
-     */
-    enum SerialState {
-        Writing, /**< Robot controller send an "instruction packet"
-                      (request) to a servomotor */
-        Reading, /**< Robot controller receive a "status packet" from a 
-                      requested servomotor */
-        Idle     ///< Robot controller ready for a new cycle request-answer 
-    };
-    
-    /** Structure of store status packet (also known as return packet)
-     *  according tne Dynamixel protocol v1.0, which are messages sent
-     *  by servomotors to contriller in response of an instruction packet
-     */
-    struct Status_packet {
-        unsigned char raw[MX12_PACKET_MAX_SIZE]; /**< bytes received */
-        unsigned char n_byte;   /**< Number of received byte */
-        unsigned char servo_id; /**< Identifier field denoted servomotor  
-                                 *   involved in the message */
-        unsigned char length;   /**< Length field of status packet */
-        unsigned char error;    /**< Error field of status packet */
-        unsigned char n_param;  /**< Number of received parameter*/
-        unsigned char param[MX12_PACKET_MAX_SIZE]; /**< array of received
-                                                    *   parameters */
-        unsigned char received_checksum; /**< Received checksum field */
-        unsigned char calculated_checksum; /**< Calculated checksum  */
-        bool parsed;  /**< status packet is correctly parsed */
-        bool valid;   /**< received_checksum == calculated_checksum */
-    };
-
-    /** 
-     * @brief  Discrete states of the packet parser.
-     *
-     * @detail 
-     *    Each value corresponding to a field that the parser 
-     *    can identify according the Dynamixel protocol v1.0.
-     *    Enumeration include field of instruction packets
-     *    (packets sent to servomotors) and field of status packets
-     *    (packets received from servomotors).
-     */
-    enum PacketField {
-        Header1,     ///< Heading1 field of instruction or status packet
-        Header2,     ///< Heading2 field of instruction or status packet
-        Id,          ///< ID field of instruction or status packet
-        Length,      ///< Length field of status packet
-        Error,       ///< Error status field of status packet
-        Instruction, ///< Instruction field of instruction packet
-        Data,        ///< expect to read parameter fields of status packet
-        Checksum     ///< expect to read Checksum field of status packet
-    };
-
-    /** Structure to store the current state of packet parserComplement to the ParsingState enumeration to store the reading 
-     *  progress of each section of the status packet.
-     */
-    struct ParserState {
-        MX12::PacketField expected_field; ///< next expected field
-        unsigned char byte_index;  ///< index of byte already parsed
-        unsigned char param_index; ///< index of parameter already parsed
-    };
-
-    /** Create an instance of MX12 and attach it to a serial link
-     *
-     * @param tx board pin used for transmission in UART daisy chain link 
-     *           to servomotors 
-     * @param rx board pin used for reception in UART daisy chain link 
-     *           to servomotors 
-     * @param baud modulation rate of UART signal, unit: Baud
-     *           to servomotors 
-     */
-    MX12(PinName tx, PinName rx, int baud=115200);
-    
-    /** Send desired normalized speed to a specific servomotor
-     *
-     * @param mot_id a unique value in the daisy chain network to identify
-     *               each servomotor
-     * @param speed a float between -1 and 1 that represents the percentage
-     *              of maximum requested speed
-     */
-    void SetSpeed(unsigned char mot_id, float speed);
-    
-    /** Send desired ablosute speed to a specific servomotor
-     *
-     * @param mot_id a unique value in the daisy chain network to identify
-     *               each servomotor
-     * @param speed desired speed in radians per second  
-     */
-    void SetSpeed_rad_s(unsigned char mot_id, float speed);
-    
-    /** Informs about the availability of the bus for a new transmission 
-     *  of instruction packet (Method Access Control) 
-     *
-     * @returns true if bus ready for a new transmission, otherwise false
-     */
-    char IsAvailable(void);
-    
-    /**
-     * @brief     Build and send an instruction packet to a servomotor 
-     *            according Dynamixel Protocol 1.0
-     *
-     * @detail    This method is limited to only two kind of instruction :
-     *            read data from a servomoteur et write data on servomotor.
-     *            Ping, Reg Write, Action, Factory Reset, Rebbot, Sync Write
-     *            and Bulk Read are not supported.
-     *
-     *            For the method to issue a read instruction, set the data 
-     *            parameter to NULL, otherwise the method issue a 
-     *            write instruction 
-     *
-     * @param[in] mot_id indicates the ID of the device (servomotor) that
-     *            should receive the Instruction Packet and process it
-     * @param[in] address data address in the "Control Table of RAM Area"
-     *            of a servomotor MX12 
-     *            (https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/#control-table-of-ram-area).
-     * @param[in] len if it is a write instruction, size in bytes 
-     *            of the data to write in the "Control Table of RAM Area"
-     * @param[in] data array of char containing parameter of Danamixel  
-     *            protocol that are the instruction’s auxiliary data field.
-     *            Set to NULL for read instruction, otherwise the method issue 
-     *            a write instruction 
-     *  
-     * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
-     *
-     * Structure of instruction Packet
-     *
-     * <PRE>
-     * |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)
-     * </PRE>
-     */
-    void rw(unsigned char mot_id, char address, char len, char *data);
-    
-    /** 
-     * Display status packet in hexadecimal format
-     * 
-     * @warning
-     *    Use console without any previous declaration. Assume console is 
-     *    setup by calling program
-     */
-    void PrintSerial();
-    
-    /**
-     * Get information from de Error byte of the last status packet
-     * received from a servomotor
-     *
-     * @return 
-     *    One of enum MX12::Status value to describe errors. 'Ok' is
-     *    returns if no error occurred during the last operation of
-     *    servomotor.
-     * 
-     * @warning 
-     *    Warning: if a combination of several errors is reported the function
-     *    returns "Unknown".
-     *
-     * @bug
-     *    Bug: this method has a hazardous behavior because it provides 
-     *    a result by reading the content of the variable _current_frame 
-     *    which can be modified at any time by the private ISR _Rx_interrupt()  
-     */
-     
-    MX12::Status GetStatus(void);
-    
-    
-    // Allow to read the status packet
-    char ReadSerial();
-
-    /* function aivailaible in a previous version of the class 
-     */
-    // MX12::Status GetStatus(void);
-    // void ReadPosition(unsigned char mot_id);
-    // float GetPosition(unsigned char mot_id);
-    
-    void cmd_moteur(float Vavance, float Vlat, float Wz);
-    // envoie la commande moteur de manière à avancer d'une vitesse Vavance en 
-    // mètres par seconde, d'une vitesse Vlat en mètre par seconde et d'une 
-    // vitesse de rotation Wz en rad/s
-    
-    void eteindre_moteurs();
-    // permet d'enlever le couple dans les moteurs
-    
-    void cmd_moteur_multiturn(float pos1, float pos2, float pos3);
-    // permet de positionner le moteur pas à pas
-    
-    void cmd_moteur_rampe_unitaire(int id_moteur, float w_moteur, int step, float time);
-                
-    protected:
-    
-    /** Serial port where servomotor bus is connected
-     */
-    UnbufferedSerial _mx12;
-    
-    
-    /** Servomotor bus state to managed medium acces control (MAC)
-     */
-    MX12::SerialState _bus_state;
-    
-    /** Structure filled by ISR (Interrupt Service Routine) ReadCallback()
-     *  parser to store message received from servomotor byte after byte 
-     */
-    MX12::Status_packet _status_pck;
-    
-    /** Structure update by ISR (Interrupt Service Routine) ReadCallback()
-     *  parser to model its current state
-     */
-    MX12::ParserState _parser_state;
-
-            
-    unsigned char _answer;
-                
-    /** 
-     * @brief  
-     *    Interupt service routine (ISR) to read and parse received message
-     *
-     * @detail
-     *    This interupt routine is attached to reception event on servomoteur 
-     *    bus and is called for each character received on bus. 
-     *
-     *    As the characters are received, the progress of the parser 
-     *    is stored in _parser_state and the result of the analysis 
-     *    is stored in _status_pck.
-     */
-    void _Rx_interrupt();
-    
-};
-
-#endif /* MBED_MX12_H_ */
\ No newline at end of file