A library for the AX-12+ servo using external ICs instead of the SerialHalf-Duplex class
A library based on the AX-12+ library but using external hardware to convert from full to half duplex as suggested in the AX-12 datasheet. The buffers and NOT gate need to connected as shown below.
Don't forget the pull-up resistor!
Diff: AX12.cpp
- Revision:
- 1:1dd9cd18975d
- Parent:
- 0:d4af99baf76f
- Child:
- 2:3000c6778d1c
--- a/AX12.cpp Sat Aug 06 12:20:27 2011 +0000 +++ b/AX12.cpp Sun Aug 07 13:06:04 2011 +0000 @@ -1,25 +1,5 @@ -/* mbed AX-12+ Servo Library - * - * Copyright (c) 2010, cstyles (http://mbed.org) - * - * 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. - */ +/* mbed AX-12+ Servo Library - External hardware version */ + #include "AX12.h" #include "mbed.h" @@ -29,175 +9,22 @@ _ax12.baud(1000000); _ID = ID; _dir = TRANSMIT; - -} - -// return 1 is the servo is still in flight -int AX12::isMoving(void) { - - char data[1]; - read(_ID,AX12_REG_MOVING,1,data); - return(data[0]); -} - -// Set continuous rotation speed from -1 to 1 -int AX12::SetCRSpeed(float speed) { - - // bit 10 = direction, 0 = CCW, 1=CW - // bits 9-0 = Speed - char data[2]; - - int goal = (0x3ff * abs(speed)); - - // Set direction CW if we have a negative speed - if (speed < 0) { - goal |= (0x1 << 10); - } - - data[0] = goal & 0xff; // bottom 8 bits - data[1] = goal >> 8; // top 8 bits - - // write the packet, return the error code - int rVal = write(_ID, 0x20, 2, data); - - return(rVal); -} - -// Set the mode of the servo -// 0 = Positional (0-300 degrees) -// 1 = Rotational -1 to 1 speed -int AX12::SetMode(int mode) { - - if (mode == 1) { // set CR - SetCWLimit(0); - SetCCWLimit(0); - SetCRSpeed(0.0); - } else { - SetCWLimit(0); - SetCCWLimit(300); - SetCRSpeed(0.0); - } - return(0); -} - -float AX12::GetTemp (void) { - - if (AX12_DEBUG) { - printf("\nGetTemp(%d)",_ID); - } - char data[1]; - int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data); - float temp = data[0]; - return(temp); } -float AX12::GetVolts (void) { - if (AX12_DEBUG) { - printf("\nGetVolts(%d)",_ID); - } - char data[1]; - int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data); - float volts = data[0]/10.0; - return(volts); -} - -void AX12::trigger(void) { - - char TxBuf[16]; - char sum = 0; - - if (AX12_TRIGGER_DEBUG) { - printf("\nTriggered\n"); - } - - // Build the TxPacket first in RAM, then we'll send in one go - if (AX12_TRIGGER_DEBUG) { - printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n"); - } - - TxBuf[0] = 0xFF; - TxBuf[1] = 0xFF; - - // ID - Broadcast - TxBuf[2] = 0xFE; - sum += TxBuf[2]; - - if (AX12_TRIGGER_DEBUG) { - printf(" ID : %d\n",TxBuf[2]); - } - - // Length - TxBuf[3] = 0x02; - sum += TxBuf[3]; - if (AX12_TRIGGER_DEBUG) { - printf(" Length %d\n",TxBuf[3]); - } - - // Instruction - ACTION - TxBuf[4] = 0x04; - sum += TxBuf[4]; - if (AX12_TRIGGER_DEBUG) { - printf(" Instruction 0x%X\n",TxBuf[5]); - } - - // Checksum - TxBuf[5] = 0xFF - sum; - if (AX12_TRIGGER_DEBUG) { - printf(" Checksum 0x%X\n",TxBuf[5]); - } - - // Transmit the packet in one burst with no pausing - for (int i = 0; i < 6 ; i++) { - _ax12.putc(TxBuf[i]); - } - - // This is a broadcast packet, so there will be no reply - - return; -} - -int AX12::SetGoal(int degrees, int flags) { - -// if flag[0] is set, were blocking -// if flag[1] is set, we're registering -// they are mutually exclusive operations - - char reg_flag = 0; +int AX12::SetGoal(int degrees) { char data[2]; - // set the flag is only the register bit is set in the flag - if (flags == 0x2) { - reg_flag = 1; - } - - // 1023 / 300 * degrees - short goal = (1023 * degrees) / 300; - if (AX12_DEBUG) { - printf("SetGoal to 0x%x\n",goal); - } + short goal = (1023 * degrees) / 300; // 1023 / 300 * degrees + data[0] = goal & 0xff; // bottom 8 bits + data[1] = goal >> 8; // top 8 bits + int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data); // write the packet, return the error code - data[0] = goal & 0xff; // bottom 8 bits - data[1] = goal >> 8; // top 8 bits - - // write the packet, return the error code - int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag); - - if (flags == 1) { - // block until it comes to a halt - while (isMoving()) {} - } - - return(rVal); - + return(rVal); } float AX12::GetPosition(void) { - if (AX12_DEBUG) { - printf("\nGetPosition(%d)",_ID); - } - char data[2]; int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data); @@ -207,266 +34,100 @@ return (angle); } -int AX12::SetCWLimit (int degrees) { - - char data[2]; - - // 1023 / 300 * degrees - short limit = (1023 * degrees) / 300; - - if (AX12_DEBUG) { - printf("SetCWLimit to 0x%x\n",limit); - } - - data[0] = limit & 0xff; // bottom 8 bits - data[1] = limit >> 8; // top 8 bits - - // write the packet, return the error code - return (write(_ID, AX12_REG_CW_LIMIT, 2, data)); - -} - -int AX12::SetCCWLimit (int degrees) { - - char data[2]; - - // 1023 / 300 * degrees - short limit = (1023 * degrees) / 300; - - if (AX12_DEBUG) { - printf("SetCCWLimit to 0x%x\n",limit); - } - - data[0] = limit & 0xff; // bottom 8 bits - data[1] = limit >> 8; // top 8 bits - - // write the packet, return the error code - return (write(_ID, AX12_REG_CCW_LIMIT, 2, data)); -} - -int AX12::SetID (int CurrentID, int NewID) { - - char data[1]; - data[0] = NewID; - if (AX12_DEBUG) { - printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID); - } - return (write(CurrentID, AX12_REG_ID, 1, data)); - -} - - +//******************************************************************************************** +// Method used to read data from the regiesters of the AX-12+ Servo +//******************************************************************************************** int AX12::read(int ID, int start, int bytes, char* data) { - char PacketLength = 0x4; char TxBuf[16]; char sum = 0; char Status[16]; - Status[4] = 0xFE; // return code - - if (AX12_READ_DEBUG) { - printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes); - } - - // Build the TxPacket first in RAM, then we'll send in one go - if (AX12_READ_DEBUG) { - printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); - } - - TxBuf[0] = 0xff; - TxBuf[1] = 0xff; - - // ID - TxBuf[2] = ID; - sum += TxBuf[2]; - if (AX12_READ_DEBUG) { - printf(" ID : %d\n",TxBuf[2]); - } - - // Packet Length - TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes) - sum += TxBuf[3]; // Accululate the packet sum - if (AX12_READ_DEBUG) { - printf(" Length : 0x%x\n",TxBuf[3]); - } - - // Instruction - Read - TxBuf[4] = 0x2; - sum += TxBuf[4]; - if (AX12_READ_DEBUG) { - printf(" Instruction : 0x%x\n",TxBuf[4]); - } + // Build the TxPacket first in RAM, then we'll send in one go... + TxBuf[0] = 0xff; // Header byte 1 + TxBuf[1] = 0xff; // Header byte 2 + TxBuf[2] = ID; // ID byte + TxBuf[3] = 0x04; // Packet Length (always 4 bytes) + TxBuf[4] = 0x02; // Instruction byte (READ - Section 4.2 on datasheet) + TxBuf[5] = start; // First AX-12 reg Address to read from (Parameter 1) + TxBuf[6] = bytes; // Bytes to read - // Start Address - TxBuf[5] = start; + //Work out checksum... + sum += TxBuf[2]; + sum += TxBuf[3]; + sum += TxBuf[4]; sum += TxBuf[5]; - if (AX12_READ_DEBUG) { - printf(" Start Address : 0x%x\n",TxBuf[5]); - } - - // Bytes to read - TxBuf[6] = bytes; sum += TxBuf[6]; - if (AX12_READ_DEBUG) { - printf(" No bytes : 0x%x\n",TxBuf[6]); - } - - // Checksum TxBuf[7] = 0xFF - sum; - if (AX12_READ_DEBUG) { - printf(" Checksum : 0x%x\n",TxBuf[7]); - } - // Transmit the packet in one burst with no pausing - _dir = TRANSMIT; // switch to transmit... - for (int i = 0; i<8 ; i++) { + // And send the packet to th AX-12+ Servo... + _dir = TRANSMIT; // Switch the hardware to transmit... + for (int i = 0; i < 8 ; i++) { // Transmit the packet in one burst with no pausing _ax12.putc(TxBuf[i]); - } - - // Wait for the bytes to be transmitted - wait (0.00004); - _dir = RECEIVE; // switch back to receive... + } + wait (0.00004); // Wait for data to transmit + _dir = RECEIVE; // Switch the hardware back to receive... - // Skip if the read was to the broadcast address - if (_ID != 0xFE) { - - // Receive the Status packet 6+ number of bytes read - for (int i=0; i<(6+bytes) ; i++) { + //******************************************************************************************** + // Now we should get a response back from the AX-12+ servo... + //******************************************************************************************** + Status[4] = 0xFE; // Initailise status[4] return code + if (_ID!=0xFE) { // We'll only get a reply if it was not broadcast + for (int i=0; i<(6+bytes) ; i++) { // Receive the Status packet 6+ number of bytes read Status[i] = _ax12.getc(); } - - // Copy the data from Status into data for return - for (int i=0; i < Status[3]-2 ; i++) { + for (int i=0; i < Status[3]-2 ; i++) { // Copy the data from Status into data for return data[i] = Status[5+i]; } - - if (AX12_READ_DEBUG) { - printf("\nStatus Packet\n"); - printf(" Header : 0x%x\n",Status[0]); - printf(" Header : 0x%x\n",Status[1]); - printf(" ID : 0x%x\n",Status[2]); - printf(" Length : 0x%x\n",Status[3]); - printf(" Error Code : 0x%x\n",Status[4]); - - for (int i=0; i < Status[3]-2 ; i++) { - printf(" Data : 0x%x\n",Status[5+i]); - } - - printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]); - } - } // if (ID!=0xFE) - return(Status[4]); } -int AX12:: write(int ID, int start, int bytes, char* data, int flag) { +//******************************************************************************************** +// Method used to write data into the regiesters of the AX-12+ Servo +//******************************************************************************************** +int AX12:: write(int ID, int start, int bytes, char* data) { -// number of bytes in packet -// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum -// 7 + bytes - + // Format is - 0xff, 0xff, ID, Length, Intruction(write), Reg Address, Param(s), Checksum char TxBuf[16]; char sum = 0; char Status[6]; - if (AX12_WRITE_DEBUG) { - printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag); - } - - // Build the TxPacket first in RAM, then we'll send in one go - if (AX12_WRITE_DEBUG) { - printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); - } - - TxBuf[0] = 0xff; - TxBuf[1] = 0xff; - - // ID - TxBuf[2] = ID; - sum += TxBuf[2]; - - if (AX12_WRITE_DEBUG) { - printf(" ID : %d\n\r",TxBuf[2]); - } - - // packet Length - TxBuf[3] = 3+bytes; - sum += TxBuf[3]; - - if (AX12_WRITE_DEBUG) { - printf(" Length : %d\n\r",TxBuf[3]); - } - - // Instruction - if (flag == 1) { - TxBuf[4]=0x04; - sum += TxBuf[4]; - } else { - TxBuf[4]=0x03; - sum += TxBuf[4]; - } - - if (AX12_WRITE_DEBUG) { - printf(" Instruction : 0x%x\n\r",TxBuf[4]); - } - - // Start Address - TxBuf[5] = start; - sum += TxBuf[5]; - if (AX12_WRITE_DEBUG) { - printf(" Start : 0x%x\n\r",TxBuf[5]); - } - - // data - for (char i=0; i<bytes ; i++) { + // Build the TxPacket first in RAM, then we'll send in one go... + TxBuf[0] = 0xff; // Header byte 1 + TxBuf[1] = 0xff; // Header byte 2 + TxBuf[2] = ID; // ID byte + TxBuf[3] = 3+bytes; // Packet Length byte + TxBuf[4] = 0x03; // Instruction byte (WRITE - Section 4.1 on datasheet) + TxBuf[5] = start; // First AX-12 reg Address to write to (Parameter 1) + for (char i=0; i<bytes ; i++) { // Data to be written (Parameters 2 - N+1) TxBuf[6+i] = data[i]; sum += TxBuf[6+i]; - if (AX12_WRITE_DEBUG) { - printf(" Data : 0x%x\n\r",TxBuf[6+i]); - } } - - // checksum + + //Work out checksum... + sum += TxBuf[2]; + sum += TxBuf[3]; + sum += TxBuf[4]; + sum += TxBuf[5]; TxBuf[6+bytes] = 0xFF - sum; - if (AX12_WRITE_DEBUG) { - printf(" Checksum : 0x%x\n\r",TxBuf[6+bytes]); - } - // Transmit the packet in one burst with no pausing - _dir = TRANSMIT; // switch to transmit... - for (int i = 0; i < (7 + bytes) ; i++) { + // And send the packet to th AX-12+ Servo... + _dir = TRANSMIT; // Switch the hardware to transmit... + for (int i = 0; i < (7 + bytes) ; i++) { // Transmit the packet in one burst with no pausing _ax12.putc(TxBuf[i]); } - - // Wait for data to transmit - wait (0.00004); - _dir = RECEIVE; // switch back to receive... + wait (0.00004); // Wait for data to transmit + _dir = RECEIVE; // Switch the hardware back to receive... - // make sure we have a valid return - Status[4]=0x00; - - // we'll only get a reply if it was not broadcast - if (_ID!=0xFE) { - - // response is always 6 bytes - // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum - for (int i=0; i < 6 ; i++) { + //******************************************************************************************** + // Now we should get a response back from the AX-12+ servo... + //******************************************************************************************** + Status[4]=0x00; // Initailise status[4] to get correct response + if (_ID!=0xFE) { // We'll only get a reply if it was not broadcast + for (int i=0; i < 6 ; i++) { // Response is 6 bytes - 0xFF, 0xFF, ID, Length Error, Param(s) Checksum Status[i] = _ax12.getc(); } - - // Build the TxPacket first in RAM, then we'll send in one go - if (AX12_WRITE_DEBUG) { - printf("\nStatus Packet\n Header : 0x%X, 0x%X\n\r",Status[0],Status[1]); - printf(" ID : %d\n\r",Status[2]); - printf(" Length : %d\n\r",Status[3]); - printf(" Error : 0x%x\n\r",Status[4]); - printf(" Checksum : 0x%x\n\r",Status[5]); - } - - - } - - return(Status[4]); // return error code -} + } // if (ID!=0xFE) + return(Status[4]); // return error code - if no error will return 0x00 +} \ No newline at end of file