Gong Chen / MX64

Fork from Dynamixel AX12 Servo for MX64 use and not-finishi now

Dependents:   2014-Mx64 2014-mx64-test

Fork of AX12 by Chris Styles

Embed: (wiki syntax)

« Back to documentation index

MX64 Class Reference
Public Member Functions

MX64 Class Reference

Servo control class, based on a PwmOut. More...

#include <MX64.h>

Public Member Functions

 MX64 (PinName tx, PinName rx, int ID, int baud=1000000)
 Create an MX64 servo object connected to the specified serial port, with the specified ID.
int SetMode (int mode)
 Set the mode of the servo.
int SetBaud (int baud)
 Set baud rate of all attached servos.
int SetGoal (int degrees, int flags=0)
 Set goal angle in integer degrees, in positional mode.
int SetGoalSpeed (int degrees, int speed, 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 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.

Detailed Description

Servo control class, based on a PwmOut.

Example: 

 #include "mbed.h"
 #include "MX64.h"
 
 int main() {
 
   //MX64 mymx64 (p9, p10, 1); //for LPC1768
   MX64 mymx64 (PTD2, PTD3, 1); //for KL25Z

   while (1) {
       mymx64.SetGoal(0);    // go to 0 degrees
       wait (2.0);
       mymx64.SetGoal(360);  // go to 360 degrees
       wait (2.0);
   }
 }

Definition at line 73 of file MX64.h.

Constructor & Destructor Documentation

MX64 ( PinName  tx,
PinName  rx,
int  ID,
int  baud = 1000000 
)

Create an MX64 servo object connected to the specified serial port, with the specified ID.

Parameters:
pintx pin
pinrx pin
intID, the Bus ID of the servo 1-255

Definition at line 27 of file MX64.cpp.

Member Function Documentation

float GetPosition ( void   )

Read the current angle of the servo.

Returns:
float in the range 0.0-300.0

Definition at line 276 of file MX64.cpp.

float GetTemp ( void   )

Read the temperature of the servo.

Returns:
float temperature

Definition at line 292 of file MX64.cpp.

float GetVolts ( void   )

Read the supply voltage of the servo.

Returns:
float voltage

Definition at line 305 of file MX64.cpp.

int isMoving ( void   )

Poll to see if the servo is moving.

Returns:
true is the servo is moving

Definition at line 214 of file MX64.cpp.

int SetBaud ( int  baud )

Set baud rate of all attached servos.

Parameters:
mode0x01 = 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 198 of file MX64.cpp.

int SetCCWLimit ( int  degrees )

Set the counter-clockwise limit of the servo.

Parameters:
degrees,0-360

Definition at line 165 of file MX64.cpp.

int SetCRSpeed ( float  speed )

Set the speed of the servo in continuous rotation mode.

Parameters:
speed,-1.0to 1.0 -1.0 = full speed counter clock wise 1.0 = full speed clock wise

Definition at line 123 of file MX64.cpp.

int SetCWLimit ( int  degrees )

Set the clockwise limit of the servo.

Parameters:
degrees,0-360

Definition at line 146 of file MX64.cpp.

int SetGoal ( int  degrees,
int  flags = 0 
)

Set goal angle in integer degrees, in positional mode.

Parameters:
degrees0-300
flags,defaultsto 0 flags[0] = blocking, return when goal position reached flags[1] = register, activate with a broadcast trigger

Definition at line 56 of file MX64.cpp.

int SetGoalSpeed ( int  degrees,
int  speed,
int  flags = 0 
)

Set goal angle in integer degrees, in positional mode.

Parameters:
degrees0-300
speed0-100
flags,defaultsto 0 flags[0] = blocking, return when goal position reached flags[1] = register, activate with a broadcast trigger

Definition at line 88 of file MX64.cpp.

int SetID ( int  CurrentID,
int  NewID 
)

Change the ID of a servo.

Parameters:
CurentID1-255
NewID1-255

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 184 of file MX64.cpp.

int SetMode ( int  mode )

Set the mode of the servo.

Parameters:
mode0 = Positional, default 1 = Continuous rotation

Definition at line 38 of file MX64.cpp.

void trigger ( void   )

Send the broadcast "trigger" command, to activate any outstanding registered commands.

Definition at line 222 of file MX64.cpp.

Generated on Fri Jul 22 2022 04:49:02 by  doxygen 1.7.2