Diff: Dynamixel/Dynamixel.h

Revision:

0:6b3497b2f2ec

diff -r 000000000000 -r 6b3497b2f2ec Dynamixel/Dynamixel.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Dynamixel/Dynamixel.h	Fri Apr 24 01:55:32 2015 +0000
@@ -0,0 +1,266 @@
+/* mbed Dynamixel Servo Library
+ *
+ * Copyright (c) 2015, Jean Nassar
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef MBED_DYNAMIXEL_H
+#define MBED_DYNAMIXEL_H
+
+#include "mbed.h"
+#include "SerialHalfDuplex.h"
+
+#define AX12_WRITE_DEBUG 0
+#define AX12_READ_DEBUG 0
+#define AX12_TRIGGER_DEBUG 0
+#define AX12_DEBUG 0
+
+#define AX12_REG_ID 0x3
+#define AX12_REG_CW_LIMIT 0x06
+#define AX12_REG_CCW_LIMIT 0x08
+#define AX12_REG_TORQUE_ENABLE 0x18
+#define AX12_REG_GOAL_POSITION 0x1E
+#define AX12_REG_MOVING_SPEED 0x20
+#define AX12_REG_VOLTS 0x2A
+#define AX12_REG_TEMP 0x2B
+#define AX12_REG_MOVING 0x2E
+#define AX12_REG_TORQUE_LIMIT 0x22
+#define AX12_REG_POSITION 0x24
+
+#define AX12_MODE_POSITION  0
+#define AX12_MODE_ROTATION  1
+
+#define AX12_CW 1
+#define AX12_CCW 0
+
+#define MX28_WRITE_DEBUG 0
+#define MX28_READ_DEBUG 0
+#define MX28_TRIGGER_DEBUG 0
+#define MX28_DEBUG 0
+
+#define MX28_REG_ID 0x3
+#define MX28_REG_CW_LIMIT 0x06
+#define MX28_REG_CCW_LIMIT 0x08
+#define MX28_REG_TORQUE_ENABLE 0x18
+#define MX28_REG_GOAL_POSITION 0x1E
+#define MX28_REG_MOVING_SPEED 0x20
+#define MX28_REG_VOLTS 0x2A
+#define MX28_REG_TEMP 0x2B
+#define MX28_REG_MOVING 0x2E
+#define MX28_REG_POSITION 0x24
+#define MX28_REG_TORQUE_LIMIT 0x22
+#define MX28_REG_CURRENT 0x44
+
+#define MX28_MODE_POSITION  0
+#define MX28_MODE_ROTATION  1
+
+#define MX28_CW 1
+#define MX28_CCW 0
+
+/** Servo control class, based on a PwmOut
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "AX12.h"
+ * 
+ * int main() {
+ * 
+ *   AX12 myax12 (p9, p10, 1);
+ *
+ *   while (1) {
+ *       myax12.SetGoal(0);    // go to 0 degrees
+ *       wait (2.0);
+ *       myax12.SetGoal(300);  // go to 300 degrees
+ *       wait (2.0);
+ *   }
+ * }
+ * @endcode
+ */
+class Dynamixel {
+
+public:
+
+
+
+    /** Set the mode of the servo
+     * @param mode
+     *    0 = Positional, default
+     *    1 = Continuous rotation
+     */
+    virtual int SetMode(int mode) {return 0;}
+
+    /** Set goal angle in integer degrees, in positional mode
+     *
+     * @param degrees 0-300
+     * @param flags, defaults to 0
+     *    flags[0] = blocking, return when goal position reached 
+     *    flags[1] = register, activate with a broadcast trigger
+     *
+     */
+    virtual int SetGoal(int degrees, int flags = 0) {return 0;}
+
+
+    /** Set the speed of the servo in continuous rotation mode
+     *
+     * @param speed, -1.0 to 1.0
+     *   -1.0 = full speed counter clock wise
+     *    1.0 = full speed clock wise
+     */
+    virtual int SetCRSpeed(float speed) {return 0;}
+
+
+    /** Set the clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
+    virtual int SetCWLimit(int degrees) {return 0;}
+    
+    /** Set the counter-clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
+    virtual int SetCCWLimit(int degrees) {return 0;}
+
+    // Change the ID
+
+    /** Change the ID of a servo
+     *
+     * @param CurentID 1-255
+     * @param NewID 1-255
+     *
+     * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
+     * In this situation, only one servo should be connected to the bus
+     */
+    virtual int SetID(int CurrentID, int NewID) {return 0;}
+
+
+    /** Poll to see if the servo is moving
+     *
+     * @returns true is the servo is moving
+     */
+    virtual int isMoving(void) {return 0;}
+
+    /** Send the broadcast "trigger" command, to activate any outstanding registered commands
+     */
+    virtual void trigger(void) {}
+
+    /** Read the current angle of the servo
+     *
+     * @returns float in the range 0.0-300.0
+     */
+    virtual float GetPosition() {return 0;}
+
+    /** Read the temperature of the servo
+     *
+     * @returns float temperature 
+     */
+    virtual float GetTemp(void) {return 0;}
+
+    /** Read the supply voltage of the servo
+     *
+     * @returns float voltage
+     */
+    virtual float GetVolts(void) {return 0;}
+    virtual float GetCurrent(void) {return 0;}
+    
+    virtual int TorqueEnable(int mode) {return 0;}
+    
+    virtual int SetTorqueLimit(float torque_limit) {return 0;}
+
+protected :
+    int _ID;
+
+    virtual int read(int ID, int start, int length, char* data) {return 0;}
+    virtual int write(int ID, int start, int length, char* data, int flag=0) {return 0;}
+
+};
+
+class AX12 : public Dynamixel {
+ public:
+  /** Create a Dynamixel servo object connected to the specified serial port, with the specified ID
+  *
+  * @param pin tx pin
+  * @param pin rx pin 
+  * @param int ID, the Bus ID of the servo 1-255 
+  */
+  AX12(PinName tx, PinName rx, int ID);
+  
+  virtual int SetMode(int mode);
+  virtual int SetGoal(int degrees, int flags = 0);
+  virtual int SetCRSpeed(float speed);
+  virtual int SetCWLimit(int degrees);
+  virtual int SetCCWLimit(int degrees);
+  virtual int SetID(int CurrentID, int NewID);
+  virtual int isMoving(void);
+  virtual void trigger(void);
+  virtual float GetPosition();
+  virtual float GetTemp(void);
+  virtual float GetVolts(void);
+  virtual int TorqueEnable(int mode);
+  virtual int SetTorqueLimit(float torque_limit);
+  virtual float GetCurrent(void);
+ 
+ protected:
+  virtual int read(int ID, int start, int length, char* data);
+  virtual int write(int ID, int start, int length, char* data, int flag=0);
+ 
+ private:
+  SerialHalfDuplex _ax12;
+};
+
+class MX28 : public Dynamixel {
+ public:
+  /** Read the supply current of the servo
+   *
+   * @returns float current
+   */
+  MX28(PinName tx, PinName rx, int ID);
+  
+  virtual int SetMode(int mode);
+  virtual int SetGoal(int degrees, int flags = 0);
+  virtual int SetCRSpeed(float speed);
+  virtual int SetCWLimit(int degrees);
+  virtual int SetCCWLimit(int degrees);
+  virtual int SetID(int CurrentID, int NewID);
+  virtual int isMoving(void);
+  virtual void trigger(void);
+  virtual float GetPosition();
+  virtual float GetTemp(void);
+  virtual float GetVolts(void);
+  virtual int TorqueEnable(int mode);
+  virtual int SetTorqueLimit(float torque_limit);
+  
+  /** Create a Dynamixel servo object connected to the specified serial port, with the specified ID
+  *
+  * @param pin tx pin
+  * @param pin rx pin 
+  * @param int ID, the Bus ID of the servo 1-255 
+  */
+  virtual float GetCurrent(void);
+
+ protected:
+  virtual int read(int ID, int start, int length, char* data);
+  virtual int write(int ID, int start, int length, char* data, int flag=0);
+ 
+ private:
+  SerialHalfDuplex _mx28;
+};
+
+#endif