AX12.h

00001 /* mbed AX-12+ Servo Library
00002  *
00003  * Copyright (c) 2010, cstyles (http://mbed.org)
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  * 
00023  * 
00024  * 
00025  */
00026 
00027 #ifndef MBED_AX12_H
00028 #define MBED_AX12_H
00029 
00030 #include "SerialHalfDuplex.h"
00031 #include "mbed.h"
00032 
00033 #define AX12_WRITE_DEBUG 0
00034 #define AX12_READ_DEBUG 0
00035 #define AX12_TRIGGER_DEBUG 0
00036 #define AX12_DEBUG 0
00037 #define AX12_CALIB 0
00038 
00039 #define AX12_REG_ID 0x3
00040 #define AX12_REG_BAUD 0x4
00041 #define AX12_REG_CW_LIMIT 0x06
00042 #define AX12_REG_CCW_LIMIT 0x08
00043 #define AX12_REG_ENABLE_TORQUE 0x18
00044 #define AX12_REG_MAX_TORQUE 0xE
00045 #define AX12_REG_LOAD 0x28
00046 #define AX12_REG_GOAL_POSITION 0x1E
00047 #define AX12_REG_MOVING_SPEED 0x20
00048 #define AX12_REG_VOLTS 0x2A
00049 #define AX12_REG_TEMP 0x2B
00050 #define AX12_REG_MOVING 0x2E
00051 #define AX12_REG_POSITION 0x24
00052 
00053 #define AX12_MODE_POSITION  0
00054 #define AX12_MODE_ROTATION  1
00055 
00056 #define AX12_CW 1
00057 #define AX12_CCW 0
00058 #define AX12_BAUDRATE 115200
00059 /** Servo control class, based on a PwmOut
00060  *
00061  * Example:
00062  * @code
00063  * #include "mbed.h"
00064  * #include "AX12.h"
00065  * //AX12 VDD -> +12V
00066  * //AX12 GND -> GND
00067  * //AX12 Data -> shorted serial port pins (RX&TX connected together)
00068  * 
00069  * //F446RE TEST PASSED
00070  * #define TX PC_12
00071  * #define RX PD_2
00072  * #define ID 1
00073  * #define BAUD 1000000
00074  * 
00075  * AX12 myax12(TX, RX,ID,BAUD);
00076 
00077  * int main() {
00078  *     float pos = -1.0;  
00079  *         
00080  *     while (true)
00081  *     {
00082  *         myax12.SetGoal(0);    // go to 0 degrees
00083  *         wait (2.5);
00084  *         pos = myax12.GetPosition();
00085  *         printf("Current position (0) : %f \n", pos);
00086  *         myax12.SetGoal(300);  // go to 300 degrees
00087  *         wait (2.5);
00088  *         pos = myax12.GetPosition();
00089  *         printf("Current position (300) : %f \n", pos); 
00090  *     }
00091  * }
00092  * @endcode
00093  */
00094 class AX12 {
00095 
00096 public:
00097     /** Create an AX12 servo object connected to the specified serial port, with the specified ID
00098      *
00099      * @param pin tx pin
00100      * @param pin rx pin 
00101      * @param int ID, the Bus ID of the servo 1-255 
00102      */
00103     AX12(PinName tx, PinName rx, int ID, int baud);
00104 
00105     /** Reset servo to factory settings
00106      * 
00107      */
00108     int FactoryReset(void);
00109 
00110     /** Set the mode of the servo
00111      * @param mode
00112      *    0 = Positional, default
00113      *    1 = Continuous rotation
00114      */
00115     int SetMode(int mode);
00116 
00117     /** Set goal angle in integer degrees, in positional mode
00118      *
00119      * @param degrees 0-300
00120      * @param flags, defaults to 0
00121      *    flags[0] = blocking, return when goal position reached 
00122      *    flags[1] = register, activate with a broadcast trigger
00123      *
00124      */
00125     int SetGoal(int degrees, int flags = 0);
00126 
00127 
00128     /** Set the speed of the servo in continuous rotation mode
00129      *
00130      * @param speed, -1.0 to 1.0
00131      *   -1.0 = full speed counter clock wise
00132      *    1.0 = full speed clock wise
00133      */
00134     int SetCRSpeed(float speed);
00135 
00136 
00137     /** Set the clockwise limit of the servo
00138      *
00139      * @param degrees, 0-300
00140      */
00141     int SetCWLimit(int degrees);
00142 
00143     /** Set the counter-clockwise limit of the servo
00144      *
00145      * @param degrees, 0-300
00146      */
00147     int SetCCWLimit(int degrees);
00148     
00149     /** Enable / disable the motor torque
00150      *
00151      * @param state, 
00152      *  true = torque enable
00153      *  false = torque disable
00154     */
00155     int SetTorque(bool state);
00156 
00157     /** Set the torque limit of the servo
00158      *
00159      * @param percentage, 0.0-1.0
00160      */
00161     int SetMaxTorque(float percentage);
00162 
00163     /** Set baud rate of all attached servos
00164      * @param mode
00165      *    0x01 = 1,000,000 bps
00166      *    0x03 =   500,000 bps
00167      *    0x04 =   400,000 bps
00168      *    0x07 =   250,000 bps
00169      *    0x09 =   200,000 bps
00170      *    0x10 =   115,200 bps
00171      *    0x22 =    57,600 bps
00172      *    0x67 =    19,200 bps
00173      *    0xCF =     9,600 bp
00174      */
00175     int SetBaud(int baud);
00176     // Change the ID
00177 
00178     /** Change the ID of a servo
00179      *
00180      * @param CurentID 1-255
00181      * @param NewID 1-255
00182      *
00183      * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
00184      * In this situation, only one servo should be connected to the bus
00185      */
00186     int SetID(int CurrentID, int NewID);
00187 
00188 
00189     /** Poll to see if the servo is moving
00190      *
00191      * @returns true is the servo is moving
00192      */
00193     int isMoving(void);
00194 
00195     /** Send the broadcast "trigger" command, to activate any outstanding registered commands
00196      */
00197     void trigger(void);
00198 
00199     /** Read the current angle of the servo
00200      *
00201      * @returns float in the range 0.0-300.0
00202      */
00203     float GetPosition();
00204 
00205     /** Read the temperature of the servo
00206      *
00207      * @returns float temperature 
00208      */
00209     float GetTemp(void);
00210 
00211     /** Read the supply voltage of the servo
00212      *
00213      * @returns float voltage
00214      */
00215     float GetVolts(void);
00216 
00217     /** Get the current load (torque) on the servo
00218      * 
00219      * @returns float load (percentage)
00220      * @attention not very accurate
00221      */
00222     ////////////////////////////////////////////////////////////////////////////////////////////////
00223     //
00224     //                                   !!!  NOT WORKING !!!
00225     //
00226     ////////////////////////////////////////////////////////////////////////////////////////////////
00227     float GetLoad(void);
00228    
00229 private :
00230   
00231     SerialHalfDuplex _ax12;
00232     int _ID;
00233     int _baud;
00234     int read(int ID, int start, int length, char* data);
00235     int write(int ID, int start, int length, char* data, int flag=0);
00236 };
00237 
00238 #endif