Martin Smith / AX12_Hardware

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.

640

Don't forget the pull-up resistor!

AX12.h

Committer:
ms523
Date:
2011-08-07
Revision:
1:1dd9cd18975d
Parent:
0:d4af99baf76f
Child:
2:3000c6778d1c

File content as of revision 1:1dd9cd18975d:

/* mbed AX-12+ Servo Library - External hardware version */

#ifndef MBED_AX12_H
#define MBED_AX12_H

#include "mbed.h"

#define AX12_WRITE_DEBUG 0
#define AX12_READ_DEBUG 0
#define AX12_TRIGGER_DEBUG 0
#define AX12_DEBUG 0

#define AX12_REG_GOAL_POSITION 0x1E
#define AX12_REG_MOVING_SPEED 0x20
#define AX12_REG_POSITION 0x24

#define TRANSMIT 1
#define RECEIVE 0

class AX12 {

public:
    // define which pins are used, and the ID of this instance
    AX12(PinName tx, PinName rx, PinName dir, int ID);

    // methods for writing and reading registers
    int read(int ID, int start, int length, char* data);
    int write(int ID, int start, int length, char* data);

    // set goal angle in integer degrees
    int SetGoal(int degrees);
    
    float GetPosition();        // Get current angle, only valid 0-300

private :
    Serial _ax12;
    DigitalOut _dir;
    int _ID;
};
#endif