Martin Smith
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:
- 2:3000c6778d1c
- Parent:
- 1:1dd9cd18975d
diff -r 1dd9cd18975d -r 3000c6778d1c AX12.cpp
--- a/AX12.cpp Sun Aug 07 13:06:04 2011 +0000
+++ b/AX12.cpp Sun Oct 07 08:52:25 2012 +0000
@@ -3,10 +3,10 @@
#include "AX12.h"
#include "mbed.h"
-AX12::AX12(PinName tx, PinName rx, PinName dir, int ID)
- : _ax12(tx,rx), _dir(dir) {
+AX12::AX12(Serial& bus, PinName dir, int ID)
+ : _bus(bus), _dir(dir) {
- _ax12.baud(1000000);
+ _bus.baud(1000000);
_ID = ID;
_dir = TRANSMIT;
}
@@ -63,7 +63,7 @@
// 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]);
+ _bus.putc(TxBuf[i]);
}
wait (0.00004); // Wait for data to transmit
_dir = RECEIVE; // Switch the hardware back to receive...
@@ -74,7 +74,7 @@
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();
+ Status[i] = _bus.getc();
}
for (int i=0; i < Status[3]-2 ; i++) { // Copy the data from Status into data for return
data[i] = Status[5+i];
@@ -115,7 +115,7 @@
// 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]);
+ _bus.putc(TxBuf[i]);
}
wait (0.00004); // Wait for data to transmit
_dir = RECEIVE; // Switch the hardware back to receive...
@@ -126,7 +126,7 @@
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();
+ Status[i] = _bus.getc();
}
} // if (ID!=0xFE)
return(Status[4]); // return error code - if no error will return 0x00