Revision 31:61f9fca504dd, committed 2022-05-13

Comitter:

lorenzodunau

Date:

Fri May 13 06:26:53 2022 +0000

Parent:

30:4e7cf52ac2dd

Commit message:

bibliotheque pour commander le dribble;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRIBBLE.cpp	Fri May 13 06:26:53 2022 +0000
@@ -0,0 +1,34 @@
+/**
+ * @file MX12.ccp
+ * @brief This file contains all the methods of the MX12 class
+ *        whose prototypes are in the MX12.h header file
+ */
+
+#include "DRIBBLE.h"
+#include "math.h"
+
+dribbleur::dribbleur(PinName tx)
+    : _moteurDribble(tx)    // initializes UnbufferedSerial object
+{
+    _moteurDribble.pulsewidth_us(0);
+    _moteurDribble.period_us(100);
+};
+
+void dribbleur::SetSpeed(int pourcentage)
+{
+    _moteurDribble.pulsewidth_us(pourcentage);
+};
+
+void dribbleur::test()
+{
+    SetSpeed(10);
+};
+
+void dribbleur::SetSpeedSmooth()
+{
+    int i;
+    for (i=0;i<=30;i=i+1){
+        SetSpeed(i);
+        thread_sleep_for(100);
+        };
+};
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRIBBLE.h	Fri May 13 06:26:53 2022 +0000
@@ -0,0 +1,31 @@
+/**  
+ * @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_DRIBBLE_H_
+#define MBED_DRIBBLE_H_
+
+#include "mbed.h"
+class dribbleur
+{
+public:
+    dribbleur(PinName tx = D15);
+
+    void SetSpeed(int pourcentage);
+    // Permet de choisir une fraction de la vitesse maximal du dribbleur 
+    
+    void test();
+    // permet de vérifier que le bribbleur est opérationnel
+
+    void SetSpeedSmooth();
+    // permet d'atteindre la vitesse de croisière de manière smooth
+
+    void eteindre_moteurs();
+    // permet d'enlever le couple dans les moteurs
+
+protected:
+    PwmOut _moteurDribble;
+};
+#endif
\ No newline at end of file

--- 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);
-    }
-}

--- 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_ */
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