Diff: herkulex.cpp

Revision:

6:1dacff31b77a

Parent:

5:f737e5c70115

diff -r f737e5c70115 -r 1dacff31b77a herkulex.cpp
--- a/herkulex.cpp	Mon Jan 14 16:24:05 2013 +0000
+++ b/herkulex.cpp	Mon Jan 14 21:03:43 2013 +0000
@@ -28,7 +28,7 @@
     #ifdef HERKULEX_DEBUG
         pc = new Serial(USBTX, USBRX);
         pc->baud(57600);
-        pc->printf("Herkulex Init!\n");
+        pc->printf("\n\nHerkulex Init!\n");
     #endif
     
     txd = new Serial(tx, NC);
@@ -74,6 +74,27 @@
 }
 
 //------------------------------------------------------------------------------
+void Herkulex::rxPacket(uint8_t packetSize, uint8_t* data)
+{
+    #ifdef HERKULEX_DEBUG
+        pc->printf("[RX]");
+    #endif
+       
+    for (uint8_t i=0; i < packetSize; i++) 
+    {   
+        data[i] = rxd->getc();
+        
+        #ifdef HERKULEX_DEBUG
+            pc->printf("%02X ",data[i]);
+        #endif
+    }      
+    
+    #ifdef HERKULEX_DEBUG
+        pc->printf("\n");
+    #endif
+}
+
+//------------------------------------------------------------------------------
 void Herkulex::clear(uint8_t id)
 {
     uint8_t txBuf[11];
@@ -113,7 +134,7 @@
     txBuf[6] = 0;                   // Checksum2
     txBuf[7] = RAM_TORQUE_CONTROL;  // Address 52
     txBuf[8] = BYTE1;               // Length
-    txBuf[9] = cmdTorue;           // Torque ON
+    txBuf[9] = cmdTorue;            // Torque ON
 
     // Checksum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ ... ^ Data[n]) & 0xFE
     // Checksum2 = (~Checksum1)&0xFE
@@ -125,7 +146,7 @@
 }
 
 //------------------------------------------------------------------------------
-void Herkulex::movePos(uint8_t id, uint16_t position, uint8_t playtime, uint8_t setLED)
+void Herkulex::positionControl(uint8_t id, uint16_t position, uint8_t playtime, uint8_t setLED)
 {
     if (position > 1023) return;
     if (playtime > 255) return;
@@ -155,7 +176,7 @@
 }
 
 //------------------------------------------------------------------------------
-void Herkulex::turn(uint8_t id, int16_t speed, uint8_t setLED)
+void Herkulex::velocityControl(uint8_t id, int16_t speed, uint8_t setLED)
 {
     if (speed > 1023 || speed < -1023) return;
     
@@ -184,5 +205,116 @@
 }
 
 //------------------------------------------------------------------------------
+int8_t Herkulex::getStatus(uint8_t id) 
+{
+    uint8_t status;
+    uint8_t txBuf[7];
+    
+    txBuf[0] = HEADER;                  // Packet Header (0xFF)
+    txBuf[1] = HEADER;                  // Packet Header (0xFF)
+    txBuf[2] = MIN_PACKET_SIZE;         // Packet Size
+    txBuf[3] = id;                      // Servo ID
+    txBuf[4] = CMD_STAT;                // Status Error, Status Detail request
 
+    // Check Sum1 and Check Sum2
+    txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]) & 0xFE;
+    txBuf[6] = (~txBuf[5])&0xFE;
 
+    // send packet (mbed -> herkulex)
+    txPacket(7, txBuf);
+    
+    uint8_t rxBuf[9];
+    rxPacket(9, rxBuf);
+
+    // Checksum1
+    uint8_t chksum1 = (rxBuf[2]^rxBuf[3]^rxBuf[4]^rxBuf[7]^rxBuf[8]) & 0xFE;    
+    if (chksum1 != rxBuf[5])
+    {
+        #ifdef HERKULEX_DEBUG
+            pc->printf("Checksum1 fault\n");
+        #endif
+        
+        return -1;
+    }
+    
+    // Checksum2
+    uint8_t chksum2 = (~rxBuf[5]&0xFE);
+    if (chksum2 != rxBuf[6])
+    {
+        #ifdef HERKULEX_DEBUG
+            pc->printf("Checksum2 fault\n");
+        #endif
+        
+        return -1;
+    }
+
+    status = rxBuf[7];  // Status Error
+  //status = rxBuf[8];  // Status Detail
+    
+    #ifdef HERKULEX_DEBUG
+        pc->printf("Status = %02X\n", status);
+    #endif
+    
+    return status;
+}
+
+//------------------------------------------------------------------------------
+int16_t Herkulex::getPos(uint8_t id) 
+{
+    uint16_t position = 0;
+    
+    uint8_t txBuf[9];
+    
+    txBuf[0] = HEADER;                  // Packet Header (0xFF)
+    txBuf[1] = HEADER;                  // Packet Header (0xFF)
+    txBuf[2] = MIN_PACKET_SIZE + 2;     // Packet Size
+    txBuf[3] = id;                      // Servo ID
+    txBuf[4] = CMD_RAM_READ;            // Status Error, Status Detail request
+    txBuf[5] = 0;                       // Checksum1
+    txBuf[6] = 0;                       // Checksum2    
+    txBuf[7] = RAM_CALIBRATED_POSITION; // Address 52
+    txBuf[8] = BYTE2;                   // Address 52 and 53      
+
+    // Check Sum1 and Check Sum2
+    txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]) & 0xFE;
+    txBuf[6] = (~txBuf[5])&0xFE;
+
+    // send packet (mbed -> herkulex)
+    txPacket(9, txBuf);
+    
+    uint8_t rxBuf[13];
+    rxPacket(13, rxBuf);
+
+    // Checksum1
+    uint8_t chksum1 = (rxBuf[2]^rxBuf[3]^rxBuf[4]^rxBuf[7]^rxBuf[8]^rxBuf[9]^rxBuf[10]^rxBuf[11]^rxBuf[12]) & 0xFE;    
+    if (chksum1 != rxBuf[5])
+    {
+        #ifdef HERKULEX_DEBUG
+            pc->printf("Checksum1 fault\n");
+        #endif
+        
+        return -1;
+    }
+    
+    // Checksum2
+    uint8_t chksum2 = (~rxBuf[5]&0xFE);
+    if (chksum2 != rxBuf[6])
+    {
+        #ifdef HERKULEX_DEBUG
+            pc->printf("Checksum2 fault\n");
+        #endif
+        
+        return -1;
+    }
+
+    position = ((rxBuf[10]&0x03)<<8) | rxBuf[9];
+    
+    #ifdef HERKULEX_DEBUG
+        pc->printf("position = %04X(%d)\n", position, position);
+    #endif
+    
+    return position;
+}
+
+//------------------------------------------------------------------------------
+