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AX12 Class Reference
Servo control class, based on a PwmOut.
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#include <AX12.h >
AX12 (PinName tx, PinName rx, int ID, int baud) Create an AX12 servo object connected to the specified serial port, with the specified ID. int FactoryReset (void) Reset servo to factory settings. int SetMode (int mode) Set the mode of the servo. int SetGoal (int degrees, int flags=0) Set goal angle in integer degrees, in positional mode. int SetCRSpeed (float speed) Set the speed of the servo in continuous rotation mode. int SetCWLimit (int degrees) Set the clockwise limit of the servo. int SetCCWLimit (int degrees) Set the counter-clockwise limit of the servo. int SetTorque (bool state) Enable / disable the motor torque. int SetMaxTorque (float percentage) Set the torque limit of the servo. int SetBaud (int baud) Set baud rate of all attached servos. int SetID (int CurrentID, int NewID) Change the ID of a servo. int isMoving (void) Poll to see if the servo is moving. void trigger (void) Send the broadcast "trigger" command, to activate any outstanding registered commands. float GetPosition () Read the current angle of the servo. float GetTemp (void) Read the temperature of the servo. float GetVolts (void) Read the supply voltage of the servo. float GetLoad (void) Get the current load (torque) on the servo.
Detailed Description
Servo control class, based on a PwmOut.
Example:
#include "mbed.h"
#include "AX12.h"
#define TX PC_12
#define RX PD_2
#define ID 1
#define BAUD 1000000
AX12 myax12(TX, RX,ID,BAUD);
int main() {
float pos = -1.0;
while (true )
{
myax12.SetGoal(0);
wait (2.5);
pos = myax12.GetPosition();
printf("Current position (0) : %f \n" , pos);
myax12.SetGoal(300);
wait (2.5);
pos = myax12.GetPosition();
printf("Current position (300) : %f \n" , pos);
}
}
Definition at line 94 of file AX12.h .
Constructor & Destructor Documentation
AX12 (
PinName
tx ,
PinName
rx ,
int
ID ,
int
baud
)
Create an AX12 servo object connected to the specified serial port, with the specified ID.
Parameters:
pin tx pin pin rx pin int ID, the Bus ID of the servo 1-255
Definition at line 26 of file AX12.cpp .
Member Function Documentation
int FactoryReset
(
void
)
Reset servo to factory settings.
Definition at line 34 of file AX12.cpp .
Get the current load (torque) on the servo.
Returns: float load (percentage) Attention: not very accurate Definition at line 314 of file AX12.cpp .
float GetPosition
(
void
)
Read the current angle of the servo.
Returns: float in the range 0.0-300.0 Definition at line 270 of file AX12.cpp .
Read the temperature of the servo.
Returns: float temperature Definition at line 286 of file AX12.cpp .
Read the supply voltage of the servo.
Returns: float voltage Definition at line 298 of file AX12.cpp .
Poll to see if the servo is moving.
Returns: true is the servo is moving Definition at line 207 of file AX12.cpp .
Set baud rate of all attached servos.
Parameters:
mode 0x01 = 1,000,000 bps 0x03 = 500,000 bps 0x04 = 400,000 bps 0x07 = 250,000 bps 0x09 = 200,000 bps 0x10 = 115,200 bps 0x22 = 57,600 bps 0x67 = 19,200 bps 0xCF = 9,600 bp
Definition at line 92 of file AX12.cpp .
int SetCCWLimit
(
int
degrees )
Set the counter-clockwise limit of the servo.
Parameters:
Definition at line 148 of file AX12.cpp .
int SetCRSpeed
(
float
speed )
Set the speed of the servo in continuous rotation mode.
Parameters:
speed,-1.0 to 1.0 -1.0 = full speed counter clock wise 1.0 = full speed clock wise
Definition at line 106 of file AX12.cpp .
int SetCWLimit
(
int
degrees )
Set the clockwise limit of the servo.
Parameters:
Definition at line 129 of file AX12.cpp .
int SetGoal
(
int
degrees ,
int
flags = 0
)
Set goal angle in integer degrees, in positional mode.
Parameters:
degrees 0-300 flags,defaults to 0 flags[0] = blocking, return when goal position reached flags[1] = register, activate with a broadcast trigger
Definition at line 62 of file AX12.cpp .
int SetID
(
int
CurrentID ,
int
NewID
)
Change the ID of a servo.
Parameters:
If a servo ID is not know, the broadcast address of 0 can be used for CurrentID. In this situation, only one servo should be connected to the bus
Definition at line 194 of file AX12.cpp .
int SetMaxTorque
(
float
percentage )
Set the torque limit of the servo.
Parameters:
Definition at line 178 of file AX12.cpp .
Set the mode of the servo.
Parameters:
mode 0 = Positional, default 1 = Continuous rotation
Definition at line 44 of file AX12.cpp .
int SetTorque
(
bool
state )
Enable / disable the motor torque.
Parameters:
state,true = torque enable false = torque disable
Definition at line 167 of file AX12.cpp .
Send the broadcast "trigger" command, to activate any outstanding registered commands.
Definition at line 215 of file AX12.cpp .
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