Yoonseok Pyo / herkulex

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Dependents:   HerkuleX-HelloWorld

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Herkulex Class Reference
Public Member Functions

Herkulex Class Reference

herkulex Servo control class, based packet protocol on a serial More...

#include <herkulex.h>

Public Member Functions

 Herkulex (PinName tx, PinName rx, uint32_t baudRate)
 Create an Herkulex servo object connected to the serial pins and baudrate.
 ~Herkulex ()
 Destroy an Herkulex servo object.
void txPacket (uint8_t packetSize, uint8_t *data)
 Transmit packet datas.
void rxPacket (uint8_t packetSize, uint8_t *data)
 Receive packet datas.
void clear (uint8_t id)
 Clear error status.
void setTorque (uint8_t id, uint8_t cmdTorue)
 Set torque setting.
void positionControl (uint8_t id, uint16_t position, uint8_t playtime, uint8_t setLED)
 Position Control.
void velocityControl (uint8_t id, int16_t speed, uint8_t setLED)
 Velocity Control.
int8_t getStatus (uint8_t id)
 Get Status.
int16_t getPos (uint8_t id)
 Get Position.

Detailed Description

herkulex Servo control class, based packet protocol on a serial

Example: 

 #include "mbed.h"
 #include "herkulex.h"

 Herkulex sv(p9, p10, 115200);
 DigitalOut led(LED1);

 int main() 
 {   
     wait(1);
     sv.setTorque(0xFD, TORQUE_ON);
     while(1) 
     {
         led=1;
         sv.movePos(0xFD, 1002, 100, SET_MODE_POS, SET_LED_GREEN_ON);
         wait(3);
         
         led=0;       
         sv.movePos(0xFD, 21, 100, SET_MODE_POS, SET_LED_BLUE_ON);
         wait(3);
     }
 }

Definition at line 245 of file herkulex.h.

Constructor & Destructor Documentation

Herkulex ( PinName  tx,
PinName  rx,
uint32_t  baudRate 
)

Create an Herkulex servo object connected to the serial pins and baudrate.

Parameters:
txTransmit pin.
rxReceive pin.
baudRateThe serial tx/rx speed.

Definition at line 26 of file herkulex.cpp.

~Herkulex (  )

Destroy an Herkulex servo object.

Definition at line 42 of file herkulex.cpp.

Member Function Documentation

void clear ( uint8_t  id )

Clear error status.

Parameters:
idThe herkulex servo ID.

Definition at line 98 of file herkulex.cpp.

int16_t getPos ( uint8_t  id )

Get Position.

Parameters:
idThe herkulex servo ID.
Returns:
-1 is getPos failed. other is servo's current position.

Definition at line 262 of file herkulex.cpp.

int8_t getStatus ( uint8_t  id )

Get Status.

Parameters:
idThe herkulex servo ID.
Returns:
-1 is getStatus failed. other is servo`s status error value.

Definition at line 208 of file herkulex.cpp.

void positionControl ( uint8_t  id,
uint16_t  position,
uint8_t  playtime,
uint8_t  setLED 
)

Position Control.

Parameters:
idThe herkulex servo ID.
positionThe goal position of herkulex servo.
playtimeTime to target position.
setLEDSelect LED and on/off controll (GLED_ON 0x00,BLED_ON 0x08, RLED_ON 0x10)

Definition at line 149 of file herkulex.cpp.

void rxPacket ( uint8_t  packetSize,
uint8_t *  data 
)

Receive packet datas.

Parameters:
packetSizeThe packet size.
dataThe receive packet data array.

Definition at line 77 of file herkulex.cpp.

void setTorque ( uint8_t  id,
uint8_t  cmdTorue 
)

Set torque setting.

Parameters:
idThe herkulex servo ID.
cmdTorueThe Command for setting of torque (TORQUE_FREE 0x00, BREAK_ON 0x40, TORQUE_ON 0x60)

Definition at line 124 of file herkulex.cpp.

void txPacket ( uint8_t  packetSize,
uint8_t *  data 
)

Transmit packet datas.

Parameters:
packetSizeThe packet size.
dataThe transmit packet data array.

Definition at line 56 of file herkulex.cpp.

void velocityControl ( uint8_t  id,
int16_t  speed,
uint8_t  setLED 
)

Velocity Control.

Parameters:
idThe herkulex servo ID.
speedThe goal position of herkulex servo.
setLEDSelect LED and on/off controll (GLED_ON 0x00,BLED_ON 0x08, RLED_ON 0x10)

Definition at line 179 of file herkulex.cpp.

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