AX12.h

00001 /* Copyright (c) 2012 Martin Smith, MIT License
00002  *
00003  * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
00004  * and associated documentation files (the "Software"), to deal in the Software without restriction, 
00005  * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
00006  * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
00007  * furnished to do so, subject to the following conditions:
00008  *
00009  * The above copyright notice and this permission notice shall be included in all copies or 
00010  * substantial portions of the Software.
00011  *
00012  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
00013  * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
00014  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
00015  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
00016  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017  */
00018 
00019 #ifndef MBED_AX12_H
00020 #define MBED_AX12_H
00021 
00022 #include "mbed.h"
00023 
00024 #define AX12_WRITE_DEBUG 0
00025 #define AX12_READ_DEBUG 0
00026 #define AX12_TRIGGER_DEBUG 0
00027 #define AX12_DEBUG 0
00028 
00029 #define AX12_REG_GOAL_POSITION 0x1E
00030 #define AX12_REG_MOVING_SPEED 0x20
00031 #define AX12_REG_POSITION 0x24
00032 
00033 #define TRANSMIT 1
00034 #define RECEIVE 0
00035 
00036 /** mbed AX-12+ Servo Library - External hardware version
00037  *
00038  * Example:
00039  * @code
00040  * // Move a servo back and forth...
00041  * #include "mbed.h"
00042  * #include "Servo.h"
00043  * 
00044  * Serial ax12_bus(p28,p27);
00045  * AX12 my_ax12(ax12_bus, p29, 1);
00046  * 
00047  * int main() {
00048  *     while(1) {
00049  *         my_ax12.SetGoal(0);      // move to 0
00050  *         wait(2);
00051  *         my_ax12.SetGoal(300);    // move to 300
00052  *         wait(2);
00053  *     }
00054  * }
00055  * @endcode
00056  */
00057 
00058 class AX12
00059 {
00060 
00061 public:
00062     /** define which pins are used, and the ID of this instance
00063     */
00064     AX12(Serial& bus, PinName dir, int ID);
00065 
00066     /** Read info from the specified AX-12 register
00067     *
00068     * @param ID the ID of the AX-12 servo
00069     * @param start the address of the 1st register to be read
00070     * @param length the number of bytes to read
00071     * @param data where the read data is stored
00072     * @returns servo status
00073     */
00074     int read(int ID, int start, int length, char* data);
00075 
00076     /** Write info to the specified AX-12 register
00077     *
00078     * @param ID the ID of the AX-12 servo
00079     * @param start the address of the 1st register to be written to
00080     * @param length the number of bytes to write
00081     * @param data where the data to be written is stored
00082     * @returns servo status
00083     */
00084     int write(int ID, int start, int length, char* data);
00085 
00086     /** Sets the goal position for the servo
00087     *
00088     * @param degrees the new target position
00089     * @returns error code
00090     */
00091     int SetGoal(int degrees);
00092 
00093     /** Getss the current position for the servo
00094     *
00095     * @returns current position
00096     */
00097     float GetPosition();
00098 
00099 private :
00100     Serial& _bus;
00101     DigitalOut _dir;
00102     int _ID;
00103 };
00104 #endif