Sébastien Posada Ramirez
Lib herkulex utilisée pour la carte du phare
Diff: fonctions_herkulex.cpp
- Revision:
- 0:32fd5a08c430
- Child:
- 1:94a29f20ca18
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/fonctions_herkulex.cpp Tue Apr 23 15:41:44 2019 +0000
@@ -0,0 +1,2251 @@
+#include "mbed.h"
+#include "fonctions_herkulex.h"
+//#include "ident_crac.h"
+
+//#ifdef ROBOT_BIG
+
+//-------------------------Définition des ports série---------------------------
+RawSerial pc(USBTX, USBRX,115200);
+
+RawSerial serial1(PB_6,PB_7,57600); // P : 41 et 42
+RawSerial serial2(PC_12,PD_2,115200); // P : 43 et 47
+RawSerial serial3(PC_10,PC_11,57600); // P : 44 et 48
+RawSerial serial4(PC_6,PC_7,57600); // P : 45
+RawSerial serial5(PA_0,PA_1,57600); // P : 46
+
+
+//----------------------------variables de reception----------------------------
+uint8_t rx[300];
+uint8_t rx2[256];
+unsigned char size_reponse=100;
+unsigned char recevoir = 0;
+unsigned char i2 = 0;
+unsigned char flag_serial1_receive2 = 0;
+//--------------------variables et fonction de verification---------------------
+#define tolerance_en_position 16 //1 degre=(1002-21)/320=3.066position
+#define tolerance_en_position_negatif -16
+#define B_tolerance_en_position 16 //1 degre=(1002-21)/320=3.066position
+#define B_tolerance_en_position_negatif -16
+#define V_b 45 //temps d'attente de bras
+#define V_m 45 //temps d'attente de bras
+#define V_h 45 //temps d'attente de bras
+#define TEMPO_R 16 //temps d'attente de reception
+#define PWM_recl 0.6
+#define temps_servo_G 65 //temps d'attente des servos sauf 2 bras
+#define new_tempoX 45 //temps d'attente de correction double
+
+
+int16_t pos_position = 0, get_pos = 0, pos_ID = 0;
+uint8_t pos_led = 0, Status = 0,iID = 0;
+uint8_t nombre_servo = 0;
+uint8_t pos_time = 0;
+uint16_t position_servo_mul[20];
+uint8_t data_servo_mul[40];
+uint8_t flag_correction = 0;
+float new_tempo=0;
+float tab_tempo[20];
+uint16_t position_servo_mul_different[20];
+uint8_t data_servo_mul_different[60];
+int8_t my_Tor = 0;
+int8_t Tension_inter = 0;
+double Tension = 0;
+uint8_t coeffient_time = 1;
+uint8_t veri = 0;
+typedef enum {pos,vitesse,pos_mul_complex,pos_mul_complex_different} type_etat ;
+unsigned char serial_numero = 0;
+static type_etat etat=pos;
+int nb_erreur_pas_de_couple = 0;
+int nb_erreur_pos = 0;
+
+
+
+//---------------------fonction d'interruption de reception de serial1---------------------
+/*
+ *Ici on crée une interruption afin de rendre prioritaire la réception de données
+ *!!! Pour utiliser les fonctions utilisant les interruptions, il faut 'activer' ces dernières
+ *!!!avec la fonction servo_interrupt_en();
+ */
+unsigned char flag_perdu_info_serial1 = 0, indicateur_serial1 = 0, Size_trame_serial1 = 0, old_valueserial1 = 0;
+unsigned char char_receive_pc[100];
+unsigned char char_receive_serial1[100];
+unsigned char valueserial1=0;
+unsigned char valuepc=0,flag_seconde=0,flag_pc_receive=0,flag_serial1_receive=0;
+int pospos;
+//
+//La fonction receive_serial1() est appelée par la fonction d'interruption
+//elle appelle la fonction automate_serial() et range les données reçues dans un tableau
+//
+void receive_serial1()
+{
+ char_receive_serial1[valueserial1]=serial1.getc();
+ automate_serial1();
+}
+//
+//fonction d'interruption
+// elle se déclenche dès que des données se trouvent sur le port de réception
+// elle appelle alors immédiatement la fonction receive_serial1();
+//
+void Interrupt1_en(void)
+{
+ serial1.attach(&receive_serial1,Serial::RxIrq);
+}
+//
+//La fonction automate_serial1() sert à vérifier la bonne réception des données
+//elle est automatiquement appelée par la fonction receive_serial1()
+//
+void automate_serial1()
+{
+ typedef enum {Attente,FF,Size,Data} type_etat1;
+ static type_etat1 etat1=Attente;
+ /////pc.printf("coucou");
+
+////pc.printf("%d\r\n", char_receive_serial1[valueserial1]);
+
+ switch (etat1) {
+ // état Attente
+ //on attend la réception des données
+ //si on reçois l'octet 0xFF, il s'agit d'un début de trame
+ //on passe à l'état suivant
+ //
+ case Attente:
+ if(char_receive_serial1[0] == 0xFF) {
+ etat1 = FF;
+ valueserial1 = 1;
+ }
+ break;
+ // état FF
+ //on attend le second octet 0xFF pour confirmer qu'il s'agit d'une trame
+ //si on reçoit l'octet 0xFF, il s'agit bien d'une trame Herkulex
+ //on passe à l'état suivant
+ //Sinon on retourne à l'état précédent
+ //
+ case FF:
+ if(char_receive_serial1[1] == 0xFF) {
+ etat1 = Size;
+ valueserial1 = 2;
+ } else {
+ etat1 = Attente;
+ valueserial1 = 0;
+ flag_perdu_info_serial1 = 1; //flag_perdu_info_serial1
+ }
+ break;
+ // état size
+ //On vérifie si l'octet size est supérieur à la taille minimale d'une trame Herkulex,
+ //Si oui on passe à l'état suivant
+ //Sinon on passe à l'état attente et flag_perdu_info_serial1 passe à 1 pour signaler la perte d'information
+ case Size:
+ if(char_receive_serial1[2] < 7) {
+ etat1 = Attente;
+ valueserial1 = 0;
+ flag_perdu_info_serial1 = 1; //flag_perdu_info_serial1
+ } else {
+ etat1 = Data;
+ old_valueserial1 = 2;
+ valueserial1 = 3;
+ }
+ Size_trame_serial1 = char_receive_serial1[2];
+ break;
+ //état data
+ //on verifie que la taille de la trame reçue correspond à celle indiquée dans l'octet 'size'
+ //si oui
+ //flag_serial1_receive passe à 1 pour indiquer que la trame à bien été transmise
+ case Data:
+ if((valueserial1-2)==(Size_trame_serial1-3)) {
+ flag_serial1_receive = 1;
+ etat1 = Attente;
+ valueserial1 = 0;
+ } else {
+ valueserial1++;
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+//---------------------fonction d'interruption de reception de serial2---------------------
+//même principe que la fonction d'interrutpion de serial1
+unsigned char flag_perdu_info_serial2 = 0, indicateur_serial2 = 0, Size_trame_serial2 = 0, old_valueserial2 = 0;
+unsigned char char_receive_serial2[100];
+unsigned char valueserial2=0;
+unsigned char flag_serial2_receive=0;
+void receive_serial2()
+{
+ char_receive_serial2[valueserial2]=serial2.getc();
+ automate_serial2();
+}
+
+void Interrupt2_en(void)
+{
+ serial2.attach(&receive_serial2,Serial::RxIrq);
+}
+
+void automate_serial2()
+{
+ typedef enum {Attente,FF,Size,Data} type_etat2;
+ static type_etat2 etat2=Attente;
+ ////////pc.printf("coucou");
+
+////pc.printf("%d\r\n", char_receive_serial2[valueserial2]);
+
+ switch (etat2) {
+ case Attente:
+ if(char_receive_serial2[0] == 0xFF) {
+ etat2 = FF;
+ valueserial2 = 1;
+ }
+ break;
+ case FF:
+ if(char_receive_serial2[1] == 0xFF) {
+ etat2 = Size;
+ valueserial2 = 2;
+ } else {
+ etat2 = Attente;
+ valueserial2 = 0;
+ flag_perdu_info_serial2 = 1; //flag_perdu_info_serial1
+ }
+ break;
+ case Size:
+ if(char_receive_serial2[2] < 7) {
+ etat2 = Attente;
+ valueserial2 = 0;
+ flag_perdu_info_serial2 = 1; //flag_perdu_info_serial1
+ } else {
+ etat2 = Data;
+ old_valueserial2 = 2;
+ valueserial2 = 3;
+ }
+ Size_trame_serial2 = char_receive_serial2[2];
+ break;
+
+ case Data:
+ if((valueserial2-2)==(Size_trame_serial2-3)) {
+ flag_serial2_receive = 1;
+ etat2 = Attente;
+ valueserial2 = 0;
+ } else {
+ valueserial2++;
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+//---------------------fonction d'interruption de reception de serial3---------------------
+//même principe que la fonction d'interrutpion de serial1
+unsigned char flag_perdu_info_serial3 = 0, indicateur_serial3 = 0, Size_trame_serial3 = 0, old_valueserial3 = 0;
+unsigned char char_receive_serial3[100];
+unsigned char valueserial3=0;
+unsigned char flag_serial3_receive=0;
+void receive_serial3()
+{
+ char_receive_serial3[valueserial3]=serial3.getc();
+ automate_serial3();
+}
+
+void Interrupt3_en(void)
+{
+ serial3.attach(&receive_serial3,Serial::RxIrq);
+}
+
+void automate_serial3()
+{
+ typedef enum {Attente,FF,Size,Data} type_etat3;
+ static type_etat3 etat3=Attente;
+ ////////pc.printf("coucou");
+
+////pc.printf("%d\r\n", char_receive_serial3[valueserial3]);
+
+ switch (etat3) {
+ case Attente:
+ if(char_receive_serial3[0] == 0xFF) {
+ etat3 = FF;
+ valueserial3 = 1;
+ }
+ break;
+ case FF:
+ if(char_receive_serial3[1] == 0xFF) {
+ etat3 = Size;
+ valueserial3 = 2;
+ } else {
+ etat3 = Attente;
+ valueserial3 = 0;
+ flag_perdu_info_serial3 = 1; //flag_perdu_info_serial1
+ }
+ break;
+ case Size:
+ if(char_receive_serial3[2] < 7) {
+ etat3 = Attente;
+ valueserial3 = 0;
+ flag_perdu_info_serial3 = 1; //flag_perdu_info_serial1
+ } else {
+ etat3 = Data;
+ old_valueserial3 = 2;
+ valueserial3 = 3;
+ }
+ Size_trame_serial3 = char_receive_serial3[2];
+ break;
+
+ case Data:
+ if((valueserial3-2)==(Size_trame_serial3-3)) {
+ flag_serial3_receive = 1;
+ etat3 = Attente;
+ valueserial3 = 0;
+ } else {
+ valueserial3++;
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+//---------------------fonction d'interruption de reception de serial4---------------------
+//même principe que la fonction d'interrutpion de serial1
+unsigned char flag_perdu_info_serial4 = 0, indicateur_serial4 = 0, Size_trame_serial4 = 0, old_valueserial4 = 0;
+unsigned char char_receive_serial4[100];
+unsigned char valueserial4=0;
+unsigned char flag_serial4_receive=0;
+void receive_serial4()
+{
+ char_receive_serial4[valueserial4]=serial4.getc();
+ automate_serial4();
+}
+
+void Interrupt4_en(void)
+{
+ serial4.attach(&receive_serial4,Serial::RxIrq);
+}
+
+void automate_serial4()
+{
+ typedef enum {Attente,FF,Size,Data} type_etat4;
+ static type_etat4 etat4=Attente;
+ ////////pc.printf("coucou");
+
+////pc.printf("%d\r\n", char_receive_serial4[valueserial4]);
+
+ switch (etat4) {
+ case Attente:
+ if(char_receive_serial4[0] == 0xFF) {
+ etat4 = FF;
+ valueserial4 = 1;
+ }
+ break;
+ case FF:
+ if(char_receive_serial4[1] == 0xFF) {
+ etat4 = Size;
+ valueserial4 = 2;
+ } else {
+ etat4 = Attente;
+ valueserial4 = 0;
+ flag_perdu_info_serial4 = 1; //flag_perdu_info_serial1
+ }
+ break;
+ case Size:
+ if(char_receive_serial4[2] < 7) {
+ etat4 = Attente;
+ valueserial4 = 0;
+ flag_perdu_info_serial4 = 1; //flag_perdu_info_serial1
+ } else {
+ etat4 = Data;
+ old_valueserial4 = 2;
+ valueserial4 = 3;
+ }
+ Size_trame_serial4 = char_receive_serial4[2];
+ break;
+
+ case Data:
+ if((valueserial4-2)==(Size_trame_serial4-3)) {
+ flag_serial4_receive = 1;
+ etat4 = Attente;
+ valueserial4 = 0;
+ } else {
+ valueserial4++;
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+//---------------------fonction d'interruption de reception de serial5---------------------
+//même principe que la fonction d'interrutpion de serial1
+unsigned char flag_perdu_info_serial5 = 0, indicateur_serial5 = 0, Size_trame_serial5 = 0, old_valueserial5 = 0;
+unsigned char char_receive_serial5[100];
+unsigned char valueserial5=0;
+unsigned char flag_serial5_receive=0;
+void receive_serial5()
+{
+ char_receive_serial5[valueserial5]=serial5.getc();
+ automate_serial5();
+}
+
+void Interrupt5_en(void)
+{
+ serial5.attach(&receive_serial5,Serial::RxIrq);
+}
+
+void automate_serial5()
+{
+ typedef enum {Attente,FF,Size,Data} type_etat5;
+ static type_etat5 etat5=Attente;
+ ////////pc.printf("coucou");
+
+////pc.printf("%d\r\n", char_receive_serial5[valueserial5]);
+
+ switch (etat5) {
+ case Attente:
+ if(char_receive_serial5[0] == 0xFF) {
+ etat5 = FF;
+ valueserial5 = 1;
+ }
+ break;
+ case FF:
+ if(char_receive_serial5[1] == 0xFF) {
+ etat5 = Size;
+ valueserial5 = 2;
+ } else {
+ etat5 = Attente;
+ valueserial5 = 0;
+ flag_perdu_info_serial5 = 1; //flag_perdu_info_serial1
+ }
+ break;
+ case Size:
+ if(char_receive_serial5[2] < 7) {
+ etat5 = Attente;
+ valueserial5 = 0;
+ flag_perdu_info_serial5 = 1; //flag_perdu_info_serial1
+ } else {
+ etat5 = Data;
+ old_valueserial5 = 2;
+ valueserial5 = 3;
+ }
+ Size_trame_serial5 = char_receive_serial5[2];
+ break;
+
+ case Data:
+ if((valueserial5-2)==(Size_trame_serial5-3)) {
+ flag_serial5_receive = 1;
+ etat5 = Attente;
+ valueserial5 = 0;
+ } else {
+ valueserial5++;
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+//----------------xxxxx----fonction de fermture de serial-----------------------
+/*void N_Herkulex()
+{
+
+if(Sv != NULL)
+delete Sv;
+if(recevoir==2) {
+size_reponse = rx2[recevoir];
+}
+}*/
+//-------------------------fonction de transmission-----------------------------
+//
+//Permet de transmettre une trame manuellement sur une liaison série choisie
+//
+//packetSize ==> Taille totale de la trame en octets
+// en-têtes (HEADER) et données (data) inclus
+//
+//data ==> Données ( Ici il d'agit de la trame en entier) à rentrer sous forme de tableau (1 octet par case!)
+//
+//numero_serial ==> Numéro de la liaison série sur laquelle on
+// envoie la trame
+void txPacket(uint8_t packetSize, uint8_t* data, uint8_t numero_serial)
+
+
+/*#ifdef HERKULEX_DEBUG
+pc->printf("[TX]");
+#endif
+for(uint8_t i = 0; i < packetSize ; i++)
+{
+#ifdef HERKULEX_DEBUG
+pc->printf("%02X ",data[i]);
+#endif
+txd->putc(data[i]);
+}
+#ifdef HERKULEX_DEBUG
+pc->printf("\n");
+#endif*/
+{
+ serial_numero = numero_serial;
+ if(numero_serial == 1) { //Envoi sur la liaison série 1
+ for(uint8_t i = 0; i < packetSize ; i++) { //
+ while(serial1.writeable() == 0); //On envoie 1 octet toute les 100 us
+ serial1.putc(data[i]); //
+ wait_us(100); //
+ }
+ } else if(numero_serial == 2) { //Envoi sur la liaison série 2
+ for(uint8_t i = 0; i < packetSize ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(data[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 3) { //Envoi sur la liaison série 3
+ for(uint8_t i = 0; i < packetSize ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(data[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 4) { //Envoi sur la liaison série 4
+ for(uint8_t i = 0; i < packetSize ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(data[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 5) { //Envoi sur la liaison série 5
+ for(uint8_t i = 0; i < packetSize ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(data[i]);
+ wait_us(100);
+ }
+ }
+ wait_ms(TEMPO_R);
+}
+//----------------------------fonction de reception-----------------------------
+//Permet de recevoir une trame
+void rxPacket(uint8_t packetSize, uint8_t* data, uint8_t numero_serial)
+//
+//packetSize ==> taille de la trame à recevoir
+//data ==> Données
+//
+{
+
+ /*#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*/
+ serial_numero = numero_serial;
+ if(numero_serial == 1) {
+ if(flag_serial1_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial1; i4++) {
+ data[i4] = char_receive_serial1[i4];
+ //////pc.printf("%d ",(int)char_receive_serial1[i4]);
+ }
+ flag_serial1_receive=0;
+ valueserial1=0;
+ }
+ } else if(numero_serial == 2) {
+ if(flag_serial2_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial2; i4++) {
+ data[i4] = char_receive_serial2[i4];
+ //////pc.printf("%d ",(int)char_receive_serial2[i4]);
+ }
+ flag_serial2_receive=0;
+ valueserial2=0;
+ }
+ } else if(numero_serial == 3) {
+ if(flag_serial3_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial3; i4++) {
+ data[i4] = char_receive_serial3[i4];
+ //////pc.printf("%d ",(int)char_receive_serial3[i4]);
+ }
+ flag_serial3_receive=0;
+ valueserial3=0;
+ }
+ } else if(numero_serial == 4) {
+ if(flag_serial4_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial4; i4++) {
+ data[i4] = char_receive_serial4[i4];
+ //////pc.printf("%d ",(int)char_receive_serial4[i4]);
+ }
+ flag_serial4_receive=0;
+ valueserial4=0;
+ }
+ } else if(numero_serial == 5) {
+ if(flag_serial5_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial5; i4++) {
+ data[i4] = char_receive_serial5[i4];
+ //////pc.printf("%d ",(int)char_receive_serial5[i4]);
+ }
+ flag_serial5_receive=0;
+ valueserial5=0;
+ }
+ }
+}
+//----------------------fonction pour sortir de l'état d'erreur-------------------------
+//
+//Permet de "sortir" de la mise en erreur d'un servomoteur
+//
+void clear(uint8_t id, uint8_t numero_serial)
+//
+// id ==> On entre l'ID du servomoteur que l'on souhaite sortir de l'état d'erreur
+// numero serial ==> On entre le numéro de la liaison série sur laquelle se trouve le servomoteur concerné
+{
+ uint8_t txBuf[11];
+ serial_numero = numero_serial;
+ txBuf[0] = HEADER; // Packet Header (0xFF)
+ txBuf[1] = HEADER; // Packet Header (0xFF)
+ txBuf[2] = MIN_PACKET_SIZE + 4; // Packet Size
+ txBuf[3] = id; // Servo ID
+ txBuf[4] = CMD_RAM_WRITE; // Command Ram Write (0x03) *On choisi le CMD pour écrire dans un registre
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = RAM_STATUS_ERROR; // Address *On écrit dans le registre RAM_STATUS_ERROR
+ txBuf[8] = BYTE2; // Length *
+ txBuf[9] = 0; // Clear RAM_STATUS_ERROR
+ txBuf[10]= 0; // Clear RAM_STATUS_DETAIL
+ // Checksum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ ... ^ Data[n]) & 0xFE
+ // Checksum2 = (~Checksum1)&0xFE
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]^txBuf[9]^txBuf[10]) & 0xFE; //calcul de checksum1
+ txBuf[6] = (~txBuf[5])&0xFE; //calcul de checksum2
+ // send packet (mbed -> herkulex)
+ if(numero_serial == 1) {
+ for(uint8_t i = 0; i < 11 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 11 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 11 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 11 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 11 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ }
+ wait_ms(TEMPO_R);
+}
+//----------------fonction de mis a jour le couple de servo---------------------
+void setTorque(uint8_t id, uint8_t cmdTorque, uint8_t numero_serial)
+// Permet de modifier l'état du couple d'un servo------------
+// id ==> ID du servomoteur
+//cmdTorque ==> état souhaité pour le couple
+//numero_serial ==> Numéro de la liaison série sur laquelle se trouve le servo
+
+// valeurs posssibles pour cmdTorque
+// 0x40 Break On Opérations commandes impossibles
+// 0x60 Torque On Fontionnement normal
+// 0x00 Torque Free Opérations commandes impossibles + possibilité de déplacer le servo manuellement
+{
+ uint8_t txBuf[10];
+ serial_numero = numero_serial;
+ txBuf[0] = HEADER; // Packet Header (0xFF)
+ txBuf[1] = HEADER; // Packet Header (0xFF)
+ txBuf[2] = MIN_PACKET_SIZE + 3; // Packet Size
+ txBuf[3] = id; // Servo ID
+ txBuf[4] = CMD_RAM_WRITE; // Command Ram Write (0x03)
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = RAM_TORQUE_CONTROL; // Address
+ txBuf[8] = BYTE1; // Length
+ txBuf[9] = cmdTorque; // Torque ON
+// Checksum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ ... ^ Data[n]) & 0xFE
+// Checksum2 = (~Checksum1)&0xFE
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]^txBuf[9]) & 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+// send packet (mbed -> herkulex)
+ if(numero_serial == 1) {
+ for(uint8_t i = 0; i < 10 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 10 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 10 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 10 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 10 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ }
+ wait_ms(TEMPO_R);
+}
+//-------------fonction de contrôle de position pour un seul servo--------------
+//Permet de controler un servomoteur en position
+void positionControl(uint8_t id, uint16_t position, uint8_t playtime, uint8_t setLED, uint8_t numero_serial)
+//
+//id ==> id du servo à déplacer
+//position ==> position à atteindre
+//playtime ==> temps à mettre pour effectuer le déplacement
+//setLED ==> LED à allumer
+//numero-serial ==> numéro de la liaison série
+{
+ float tempo=0;
+ serial_numero = numero_serial;
+ //if (position > 1023) return; //1002-21
+ if (playtime > 254) playtime = 254; //return; //1-254 == 11.2ms-2.844sec.
+ tempo=playtime*0.012;
+ pos_ID = id;
+ uint8_t txBuf[12];
+ etat = pos;
+ pos_position = position;
+ pos_time = playtime;
+ pos_led = setLED;
+ txBuf[0] = HEADER; // Packet Header (0xFF)
+ txBuf[1] = HEADER; // Packet Header (0xFF)
+ txBuf[2] = MIN_PACKET_SIZE + 5; // Packet Size
+ //txBuf[3] = MAX_PID;
+ txBuf[3] = id; // pID is total number of servos in the network (0 ~ 253)
+ txBuf[4] = CMD_S_JOG; // Command S JOG (0x06)
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = playtime; // Playtime
+ txBuf[8] = position & 0x00FF; // Position (LSB, Least Significant Bit)
+ txBuf[9] =(position & 0xFF00) >> 8; // position (MSB, Most Significanct Bit)
+ txBuf[10] = POS_MODE | setLED; // Pos Mode and LED on/off
+ txBuf[11] = id; // Servo ID
+// Checksum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ ... ^ Data[n]) & 0xFE
+// Checksum2 = (~Checksum1)&0xFE
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]^txBuf[9]^txBuf[10]^txBuf[11]) & 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+// send packet (mbed -> herkulex)
+//txPacket(12, txBuf);
+ if(numero_serial == 1) {
+ for(uint8_t i = 0; i < 12 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ pc.printf("%d/",txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 12 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+
+ wait_us(100);
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 12 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 12 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 12 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ }
+ wait(tempo);
+ wait_ms(TEMPO_R);
+}
+//-------------fonction de controle de vitesse pour un seul servo---------------
+
+void velocityControl(uint8_t id, int16_t speed, uint8_t setLED, uint8_t numero_serial)
+//
+//id ==> id du servo à déplacer
+//speed ==> vitesse (sans dec)
+//setLED ==> LED à allumer
+//numero_serial ==> numéro de la liaison série
+//
+{
+ serial_numero = numero_serial;
+ if (speed > 1023 || speed < -1023) return;
+ uint8_t txBuf[12];
+ txBuf[0] = HEADER; // Packet Header (0xFF)
+ txBuf[1] = HEADER; // Packet Header (0xFF)
+ txBuf[2] = MIN_PACKET_SIZE + 5; // Packet Size
+ txBuf[3] = id; // pID is total number of servos in the network (0 ~ 253)
+ txBuf[4] = CMD_S_JOG; // Command S JOG (0x06)
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = 0; // Playtime, unmeaningful in turn mode
+ if (speed >= 0) { //On gère la vitesse positive
+ txBuf[8] = speed & 0x00FF; // Speed (LSB, Least Significant Bit)
+ txBuf[9] =(speed & 0xFF00) >> 8; // Speed (MSB, Most Significanct Bit)
+ } else if(speed < 0) { //On gère la vitesse négative (voir pg.48 de la documentation herkulex)
+ speed= abs(speed);
+ txBuf[8] = speed & 0x00FF; // Speed (LSB, Least Significant Bit)
+ txBuf[9] =((speed|0x4000) & 0xFF00) >> 8; // Speed (MSB, Most Significanct Bit)
+ }
+
+ txBuf[10] = TURN_MODE | setLED; // Turn Mode and LED on/off
+ txBuf[11] = id; // Servo ID
+// Checksum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ ... ^ Data[n]) & 0xFE
+// Checksum2 = (~Checksum1)&0xFE
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]^txBuf[9]^txBuf[10]^txBuf[11]) & 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+// send packet (mbed -> herkulex)
+ if(numero_serial == 1) {
+ txPacket(12, txBuf,1);
+ } else if(numero_serial == 2) {
+ txPacket(12, txBuf,2);
+ } else if(numero_serial == 3) {
+ txPacket(12, txBuf,3);
+ } else if(numero_serial == 4) {
+ txPacket(12, txBuf,4);
+ } else if(numero_serial == 5) {
+ txPacket(12, txBuf,5);
+ }
+ wait_ms(TEMPO_R);
+}
+//--------------------Compteur de tour------------------------------------------------------------------------
+//c'est un compteur de tour (CQFD)
+void compteTour(int ID,int16_t speed,uint8_t tour, uint16_t position,uint8_t setLED,uint8_t serial)
+//
+//id ==> id du servo à déplacer
+//speed ==> vitesse
+//tour ==> nombre de tour à effectuer
+//position ==> position finale
+//setLED ==> LED à allumer
+//numero_serial ==> numéro de la liaison série
+//
+//
+{
+ int etat =0;
+ int flagTour=0;
+ int end = 0;
+ int posAct, posCible;
+ servo_interrupt_en();
+ clear(ID,serial);
+ setTorque(ID, TORQUE_ON,serial);
+
+ posCible=position;
+ velocityControl(ID,speed,setLED,serial);
+ wait_ms(100);
+
+ if(speed > 0) {
+ while(end != 1) {
+ switch (etat) {
+ case 0 :
+
+ posAct = getPos(ID,serial);
+ posAct = posAct-posCible;
+ pc.printf("%d",posAct);
+ if (posAct < 0) {
+ clear(ID,serial);
+ setTorque(ID, TORQUE_ON,serial);
+ etat=1;
+ }
+ break;
+
+ case 1 :
+
+ velocityControl(ID,speed,RLED_ON,serial);
+ posAct = getPos(ID,serial);
+ posAct = posCible-posAct;
+ if (posAct < 0) etat = 2;
+ break;
+
+ case 2 :
+
+ clear(ID,serial);
+ setTorque(ID, TORQUE_ON,serial);
+ if (flagTour == tour-1) {
+ velocityControl(ID,0,setLED,serial);
+ positionControl(ID,posCible,1,setLED,serial);
+ end = 1;
+
+ } else {
+ flagTour=flagTour+1;
+ etat = 0;
+ }
+ break;
+ }
+ }
+ } else if(speed < 0) {
+ while(end != 1) {
+ switch (etat) {
+ case 0 :
+
+ posAct = getPos(ID,serial);
+ posAct = posCible-posAct;
+ pc.printf("%d",posAct);
+ if (posAct < 0) {
+ clear(ID,serial);
+ setTorque(ID, TORQUE_ON,serial);
+ etat=1;
+ }
+ break;
+
+ case 1 :
+
+ velocityControl(ID,speed,RLED_ON,serial);
+ posAct = getPos(ID,serial);
+ posAct = posAct-posCible;
+ if (posAct < 0) etat = 2;
+ break;
+
+ case 2 :
+
+ clear(ID,serial);
+ setTorque(ID, TORQUE_ON,serial);
+ if (flagTour == tour-1) {
+ velocityControl(ID,0,setLED,serial);
+ positionControl(ID,posCible,1,setLED,serial);
+ end =1;
+ } else {
+ flagTour=flagTour+1;
+ etat = 0;
+ }
+ break;
+ }
+ }
+ }
+}
+
+//--------------------fonction d'acquis d'etat d'un servo-----------------------
+int8_t getStatus(uint8_t id, uint8_t numero_serial)
+//
+// renvoi l'état du servomoteur (doc pg 39)
+//
+//id ==> Id du servo concerné
+//numero-serial ==> numéro de la liaison série du servo
+//
+{
+ serial_numero = numero_serial;
+ uint8_t status;
+ uint8_t txBuf[7];
+ size_reponse = 9;
+
+ 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;
+
+ uint8_t rxBuf[9];
+
+ if(numero_serial == 1) {
+ for(uint8_t i = 0; i < 7 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial1_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial1; i4++) {
+ rxBuf[i4] = char_receive_serial1[i4];
+ ////////////pc.printf("%d ",(int)char_receive_serial1[i4]);
+ }
+ flag_serial1_receive=0;
+ valueserial1=0;
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 7 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial2_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial2; i4++) {
+ rxBuf[i4] = char_receive_serial2[i4];
+ //////pc.printf("%d ",(int)char_receive_serial2[i4]);
+ }
+ flag_serial2_receive=0;
+ valueserial2=0;
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 7 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial3_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial3; i4++) {
+ rxBuf[i4] = char_receive_serial3[i4];
+ //////pc.printf("%d ",(int)char_receive_serial3[i4]);
+ }
+ flag_serial3_receive=0;
+ valueserial3=0;
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 7 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial4_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial4; i4++) {
+ rxBuf[i4] = char_receive_serial4[i4];
+ //////pc.printf("%d ",(int)char_receive_serial4[i4]);
+ }
+ flag_serial4_receive=0;
+ valueserial4=0;
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 7 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial5_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial5; i4++) {
+ rxBuf[i4] = char_receive_serial5[i4];
+ //////pc.printf("%d ",(int)char_receive_serial5[i4]);
+ }
+ flag_serial5_receive=0;
+ valueserial5=0;
+ }
+ }
+
+// Checksum1
+ uint8_t chksum1 = (rxBuf[2]^rxBuf[3]^rxBuf[4]^rxBuf[7]^rxBuf[8]) & 0xFE;
+ if (chksum1 != rxBuf[5]) {
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+// Checksum2
+ uint8_t chksum2 = (~rxBuf[5]&0xFE);
+ if (chksum2 != rxBuf[6]) {
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+ status = rxBuf[7]; // Status Error
+//status = rxBuf[8]; // Status Detail
+
+
+ return status;
+}
+//------------------fonction pour lire la position actuelle-----------------------
+int16_t getPos(uint8_t id, uint8_t numero_serial)
+//
+//renvoie la position d'un servo
+//
+//!!!ne pas oublier d'utiliser servo_interrupt_en();!!!
+//
+//id ==> id d'un servomoteur
+//numero_serial==> numéro de la liaison série du servo
+//
+{
+ serial_numero = numero_serial;
+ uint16_t position = 0;
+ uint8_t txBuf[9];
+ size_reponse = 13;
+
+ 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; // Command Ram Read
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = RAM_CALIBRATED_POSITION; // Address
+ txBuf[8] = BYTE2;
+// Check Sum1 and Check Sum2
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]) & 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+
+ uint8_t rxBuf[13];
+
+ if(numero_serial == 1) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial1_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial1; i4++) {
+ rxBuf[i4] = char_receive_serial1[i4];
+ //pc.printf("%d ",(int)char_receive_serial1[i4]);
+ }
+ flag_serial1_receive=0;
+ valueserial1=0;
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial2_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial2; i4++) {
+ rxBuf[i4] = char_receive_serial2[i4];
+ //////pc.printf("%d ",(int)char_receive_serial2[i4]);
+ }
+ flag_serial2_receive=0;
+ valueserial2=0;
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial3_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial3; i4++) {
+ rxBuf[i4] = char_receive_serial3[i4];
+ //////pc.printf("%d ",(int)char_receive_serial3[i4]);
+ }
+ flag_serial3_receive=0;
+ valueserial3=0;
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial4_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial4; i4++) {
+ rxBuf[i4] = char_receive_serial4[i4];
+ //////pc.printf("%d ",(int)char_receive_serial4[i4]);
+ }
+ flag_serial4_receive=0;
+ valueserial4=0;
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial5_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial5; i4++) {
+ rxBuf[i4] = char_receive_serial5[i4];
+ //////pc.printf("%d ",(int)char_receive_serial5[i4]);
+ }
+ flag_serial5_receive=0;
+ valueserial5=0;
+ }
+ }
+
+// 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*/
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+// Checksum2
+ uint8_t chksum2 = (~rxBuf[5]&0xFE);
+ if (chksum2 != rxBuf[6]) {
+ /* #ifdef HERKULEX_DEBUG
+ pc->printf("Checksum2 fault\n");
+ #endif*/
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+ position = ((rxBuf[10]&0x03)<<8) | rxBuf[9];
+
+
+//}
+ return position;
+}
+//---------------fonction d'acquis d'etat de couple d'un servo------------------
+//Obtenir la valeur du couple d'un servo
+int8_t Get_Torque(int8_t id, uint8_t numero_serial)
+//
+//id ==> id du servomoteur sur la liaison série
+//numero_serial ==> numéro de la liaison série sur laquelle se trouve le servomoteur
+//
+{
+ serial_numero = numero_serial;
+ uint8_t txBuf[9];
+ int8_t Tor = 0;
+
+ uint8_t iv=0;
+ for(iv=0; iv<20; iv++) {
+ rx2[iv] = 0;
+ }
+
+ 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; // Command Ram Read
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = RAM_TORQUE_CONTROL;
+ txBuf[8] = BYTE1; // Length
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]) & 0xFE;//Checksum2
+ txBuf[6] = (~txBuf[5])&0xFE; // CheckSum2
+
+ //pc.printf(" Torque ");
+
+ uint8_t rxBuf[12];
+
+ if(numero_serial == 1) {
+ //send packet (mbed -> herkulex)
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+
+ //send packet (mbed -> herkulex)
+ //uint8_t rxBuf[12];
+ wait_ms(TEMPO_R);
+ if(flag_serial1_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial1; i4++) {
+ rxBuf[i4] = char_receive_serial1[i4];
+ //////pc.printf("%d ",(int)char_receive_serial1[i4]);
+ }
+ flag_serial1_receive=0;
+ valueserial1=0;
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial2_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial2; i4++) {
+ rxBuf[i4] = char_receive_serial2[i4];
+ //////pc.printf("%d ",(int)char_receive_serial2[i4]);
+ }
+ flag_serial2_receive=0;
+ valueserial2=0;
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial3_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial3; i4++) {
+ rxBuf[i4] = char_receive_serial3[i4];
+ //////pc.printf("%d ",(int)char_receive_serial3[i4]);
+ }
+ flag_serial3_receive=0;
+ valueserial3=0;
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial4_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial4; i4++) {
+ rxBuf[i4] = char_receive_serial4[i4];
+ //////pc.printf("%d ",(int)char_receive_serial4[i4]);
+ }
+ flag_serial4_receive=0;
+ valueserial4=0;
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial5_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial5; i4++) {
+ rxBuf[i4] = char_receive_serial5[i4];
+ //////pc.printf("%d ",(int)char_receive_serial5[i4]);
+ }
+ flag_serial5_receive=0;
+ valueserial5=0;
+ }
+ }
+
+ uint8_t chksum1 = (rxBuf[2]^rxBuf[3]^rxBuf[4]^rxBuf[7]^rxBuf[8]^rxBuf[9]^rxBuf[10]^rxBuf[11]) & 0xFE;
+ if (chksum1 != rxBuf[5]) {
+ /*#ifdef HERKULEX_DEBUG
+ pc->printf("Checksum1 fault\n");
+ #endif*/
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+// Checksum2
+ uint8_t chksum2 = (~rxBuf[5]&0xFE);
+ if (chksum2 != rxBuf[6]) {
+ /* #ifdef HERKULEX_DEBUG
+ pc->printf("Checksum2 fault\n");
+ #endif*/
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+ Tor = rxBuf[9];
+ /* #ifdef HERKULEX_DEBUG
+ pc->printf("position = %04X(%d)\n", position, position);
+ #endif*/
+//}
+ return Tor;
+}
+//---------------fonction pour lire le temperature max pour un servo------------
+//obtenir la valeur de température maximum tolérée par le servomoteur
+int8_t Get_Temperature_MAX(int8_t id, uint8_t numero_serial)
+//
+//id ==> id du servomoteur sur la liaison série
+//numero_serial ==> numéro de la liaison série sur laquelle se trouve le servomoteur
+//
+{
+ serial_numero = numero_serial;
+ uint8_t txBuf[9];
+ int8_t tempeMAX = 0;
+
+ 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; // Command Ram Read
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = RAM_MAX_TEMPERATURE;
+ txBuf[8] = BYTE1; // Length
+ // Check Sum1 and Check Sum2
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]) & 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+
+ //pc.printf(" tempeMAX ");
+
+ uint8_t rxBuf[12];
+
+ if(numero_serial == 1) {
+ //send packet (mbed -> herkulex)
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+
+ //send packet (mbed -> herkulex)
+ //uint8_t rxBuf[12];
+ wait_ms(TEMPO_R);
+ if(flag_serial1_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial1; i4++) {
+ rxBuf[i4] = char_receive_serial1[i4];
+ //////pc.printf("%d ",(int)char_receive_serial1[i4]);
+ }
+ flag_serial1_receive=0;
+ valueserial1=0;
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial2_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial2; i4++) {
+ rxBuf[i4] = char_receive_serial2[i4];
+ //////pc.printf("%d ",(int)char_receive_serial2[i4]);
+ }
+ flag_serial2_receive=0;
+ valueserial2=0;
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial3_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial3; i4++) {
+ rxBuf[i4] = char_receive_serial3[i4];
+ //////pc.printf("%d ",(int)char_receive_serial3[i4]);
+ }
+ flag_serial3_receive=0;
+ valueserial3=0;
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial4_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial4; i4++) {
+ rxBuf[i4] = char_receive_serial4[i4];
+ //////pc.printf("%d ",(int)char_receive_serial4[i4]);
+ }
+ flag_serial4_receive=0;
+ valueserial4=0;
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial5_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial5; i4++) {
+ rxBuf[i4] = char_receive_serial5[i4];
+ //////pc.printf("%d ",(int)char_receive_serial5[i4]);
+ }
+ flag_serial5_receive=0;
+ valueserial5=0;
+ }
+ }
+
+ uint8_t chksum1 = (rxBuf[2]^rxBuf[3]^rxBuf[4]^rxBuf[7]^rxBuf[8]^rxBuf[9]^rxBuf[10]^rxBuf[11]) & 0xFE;
+ if (chksum1 != rxBuf[5]) {
+ /*#ifdef HERKULEX_DEBUG
+ pc->printf("Checksum1 fault\n");
+ #endif*/
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+// Checksum2
+ uint8_t chksum2 = (~rxBuf[5]&0xFE);
+ if (chksum2 != rxBuf[6]) {
+ /* #ifdef HERKULEX_DEBUG
+ pc->printf("Checksum2 fault\n");
+ #endif*/
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+ tempeMAX = rxBuf[9];
+ /* #ifdef HERKULEX_DEBUG
+ pc->printf("position = %04X(%d)\n", position, position);
+ #endif*/
+//}
+ return tempeMAX;
+}
+//--------fonction de controle de position pour deux servo(same playtime)-------
+//permet de déplacer deux servomoteurs sur la même liaison série avec le même temps d'execution
+void positionControl_Mul_ensemble(uint8_t id, uint16_t position, uint8_t playtime, uint8_t setLED,uint8_t id2, uint16_t position2, uint8_t setLED2, uint8_t numero_serial)
+//
+//id
+//
+
+{
+ serial_numero = numero_serial;
+ float tempo=0;
+//if (position > 1023) return; //1002-21
+ if (playtime > 254) return; //1-254 == 11.2ms-2.844sec.
+ tempo=playtime*0.012;
+ uint8_t txBuf[16];
+ etat = pos;
+ pos_position = position;
+ pos_time = playtime;
+ pos_led = setLED;
+ txBuf[0] = HEADER; // Packet Header (0xFF)
+ txBuf[1] = HEADER; // Packet Header (0xFF)
+ txBuf[2] = MIN_PACKET_SIZE + 9; // Packet Size
+ //txBuf[3] = MAX_PID; // pID is total number of servos in the network (0 ~ 253)
+ txBuf[3] = 254; // broadcast ID
+ txBuf[4] = CMD_S_JOG; // Command S JOG (0x06)
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = playtime; // Playtime
+ txBuf[8] = position & 0x00FF; // Position (LSB, Least Significant Bit)
+ txBuf[9] =(position & 0xFF00) >> 8;// position (MSB, Most Significanct Bit)
+ txBuf[10] = POS_MODE | setLED; // Pos Mode and LED on/off
+ txBuf[11] = id; // Servo ID
+ txBuf[12] = position2 & 0x00FF; // Position (LSB, Least Significant Bit)
+ txBuf[13] =(position2 & 0xFF00) >> 8;// position (MSB, Most Significanct Bit)
+ txBuf[14] = POS_MODE | setLED2; // Pos Mode and LED on/off
+ txBuf[15] = id2; // Servo ID
+// Checksum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ ... ^ Data[n]) & 0xFE
+// Checksum2 = (~Checksum1)&0xFE
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]^txBuf[9]^txBuf[10]^txBuf[11]^txBuf[12]^txBuf[13]^txBuf[14]^txBuf[15]) & 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+// send packet (mbed -> herkulex)
+
+ if(numero_serial == 1) {
+ for(uint8_t i = 0; i < 16 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 16 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 16 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 16 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 16 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ }
+ wait(tempo);
+ wait_ms(TEMPO_R);
+}
+//-----fonction de controle de position pour deux servo(different playtime)----- //a changer...
+void positionControl_Mul_playtime_different(uint8_t id, uint16_t position, uint8_t playtime, uint8_t setLED,uint8_t id2, uint16_t position2, uint8_t playtime2, uint8_t setLED2, uint8_t numero_serial)
+//
+//permet de controler deux servomoteurs avec des temps d'execution différents
+//
+{
+ serial_numero = numero_serial;
+ float tempo=0;
+//if (position > 1023) return; //1002-21
+ if (playtime > 254) playtime = 254; //return; //1-254 == 11.2ms-2.844sec.
+ if(playtime>playtime2) {
+ tempo=playtime*0.012;
+ } else if(playtime<playtime2) {
+ tempo=playtime2*0.012;
+ }
+ uint8_t txBuf[17];
+ etat = pos;
+ pos_position = position;
+ pos_time = playtime;
+ pos_led = setLED;
+ txBuf[0] = HEADER; // Packet Header (0xFF)
+ txBuf[1] = HEADER; // Packet Header (0xFF)
+ txBuf[2] = MIN_PACKET_SIZE + 9; // Packet Size
+ //txBuf[3] = MAX_PID; // pID is total number of servos in the network (0 ~ 253)
+ txBuf[3] = 254; // broadcast ID
+ txBuf[4] = CMD_I_JOG; // Command I JOG
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = position & 0x00FF; // Position (LSB, Least Significant Bit)
+ txBuf[8] =(position & 0xFF00) >> 8;// position (MSB, Most Significanct Bit)
+ txBuf[9] = POS_MODE | setLED; // Pos Mode and LED on/off
+ txBuf[10] = id; // Servo ID
+ txBuf[11] = playtime; // Playtime
+ txBuf[12] = position2 & 0x00FF; // Position (LSB, Least Significant Bit)
+ txBuf[13] =(position2 & 0xFF00) >> 8;// position (MSB, Most Significanct Bit)
+ txBuf[14] = POS_MODE | setLED2; // Pos Mode and LED on/off
+ txBuf[15] = id2; // Servo ID
+ txBuf[16] = playtime2; // Playtime
+// Checksum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ ... ^ Data[n]) & 0xFE
+// Checksum2 = (~Checksum1)&0xFE
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]^txBuf[9]^txBuf[10]^txBuf[11]^txBuf[12]^txBuf[13]^txBuf[14]^txBuf[15]) & 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+// send packet (mbed -> herkulex)
+//txPacket(12, txBuf);
+
+ if(numero_serial == 1) {
+ for(uint8_t i = 0; i < 17 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 17 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 17 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 17 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 17 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ }
+
+ wait(tempo);
+ wait_ms(TEMPO_R);
+}
+//-----fonction de controle de position pour plusieurs servo(same playtime)-----
+void positionControl_Mul_ensemble_complex(uint8_t nb_servo, uint8_t playtime, uint8_t* data, uint16_t* pos, uint8_t numero_serial) // uint16_t position, uint8_t setLED, uint8_t id
+//
+//Permet de controler tout les servos de la même liaison série avec le même temps d'execution
+//
+//
+{
+ serial_numero = numero_serial;
+ //float tempo=0;
+ uint8_t taille = 0,i = 0,idata = 0, ipos = 0;
+ //if (position > 1023) return; //1002-21
+ if (playtime > 254) return; //1-254 == 11.2ms-2.844sec.
+ //tempo=playtime*0.012;
+ taille = 7 + 1 + 4 * nb_servo;
+ nombre_servo = nb_servo;
+ pos_time = playtime;
+ uint8_t txBuf[taille];
+ etat = pos_mul_complex;
+
+ txBuf[0] = HEADER; // Packet Header (0xFF)
+ txBuf[1] = HEADER; // Packet Header (0xFF)
+ txBuf[2] = MIN_PACKET_SIZE + 1 + 4 * nb_servo; // Packet Size
+ //txBuf[3] = MAX_PID; // pID is total number of servos in the network (0 ~ 253)
+ txBuf[3] = 254; // broadcast ID
+ txBuf[4] = CMD_S_JOG; // Command S JOG (0x06)
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = playtime; // Playtime
+
+ for(i=0; i<nb_servo; i++) {
+ txBuf[8+i*4] = pos[ipos] & 0x00FF; // Position (LSB, Least Significant Bit)
+ txBuf[9+i*4] =(pos[ipos] & 0xFF00) >> 8;// position (MSB, Most Significanct Bit)
+ position_servo_mul[ipos] = pos[ipos];
+ ipos++;
+ txBuf[10+i*4] = POS_MODE | data[idata]; // Pos Mode and LED on/off
+ data_servo_mul[idata] = data[idata];
+ idata++;
+ txBuf[11+i*4] = data[idata]; // Servo ID
+ data_servo_mul[idata] = data[idata];
+ idata++;
+ }
+
+// Checksum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ ... ^ Data[n]) & 0xFE
+// Checksum2 = (~Checksum1)&0xFE
+ txBuf[5] = txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7];
+
+ for(i=1; i<(taille-7); i++) {
+ txBuf[5]=txBuf[5]^txBuf[7+i];
+ }
+ txBuf[5] = txBuf[5]& 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+
+// send packet (mbed -> herkulex)
+ if(numero_serial == 1) {
+ for(uint8_t i = 0; i < taille ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < taille ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < taille ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < taille ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < taille ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ }
+
+ /*for(uint8_t i = 0; i < taille ; i++)
+ {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }*/
+ //wait(tempo);
+ //wait_ms(TEMPO_R);
+}
+//--fonction de controle de position pour plusieurs servo(different playtime)---
+void positionControl_Mul_ensemble_different_complex(uint8_t nb_servo, uint8_t* data, uint16_t* pos, uint8_t numero_serial) // uint16_t position, uint8_t setLED, uint8_t id, uint8_t playtime
+//
+//Permet de controler tout les servos de la même liaison série avec un temps d'execution différent
+//
+{
+ serial_numero = numero_serial;
+ float tempo=0;
+ uint8_t Max_playtime = 0;
+ uint8_t taille = 0,i = 0,idata = 0, ipos = 0,iplay_time = 0;
+ //if (position > 1023) return; //1002-21
+ //if (playtime > 254) return; //1-254 == 11.2ms-2.844sec.
+
+ for(iplay_time=0; iplay_time<nb_servo; iplay_time++) {
+ if(Max_playtime<data[2+3*iplay_time]) {
+ Max_playtime=data[2+3*iplay_time];
+ }
+ }
+ tempo=Max_playtime*0.012;
+ taille = 7 + 5 * nb_servo;
+ nombre_servo = nb_servo;
+ uint8_t txBuf[taille];
+ etat = pos_mul_complex_different;
+
+ txBuf[0] = HEADER; // Packet Header (0xFF)
+ txBuf[1] = HEADER; // Packet Header (0xFF)
+ txBuf[2] = MIN_PACKET_SIZE + 5 * nb_servo; // Packet Size
+ //txBuf[3] = MAX_PID; // pID is total number of servos in the network (0 ~ 253)
+ txBuf[3] = 254; // broadcast ID
+ txBuf[4] = CMD_I_JOG; // Command I JOG (0x06)
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+
+ for(i=0; i<nb_servo; i++) {
+ txBuf[7+i*5] = pos[ipos] & 0x00FF; // Position (LSB, Least Significant Bit)
+ txBuf[8+i*5] =(pos[ipos] & 0xFF00) >> 8;// position (MSB, Most Significanct Bit)
+ position_servo_mul_different[ipos] = pos[ipos];
+ ipos++;
+ txBuf[9+i*5] = POS_MODE | data[idata]; // Pos Mode and LED on/off
+ data_servo_mul_different[idata] = data[idata];
+ idata++;
+ txBuf[10+i*5] = data[idata]; // Servo ID
+ data_servo_mul_different[idata] = data[idata];
+ idata++;
+ txBuf[11+i*5] = data[idata]; // Playtime
+ data_servo_mul_different[idata] = data[idata];
+ idata++;
+ }
+
+// Checksum1 = (PacketSize ^ pID ^ CMD ^ Data[0] ^ Data[1] ^ ... ^ Data[n]) & 0xFE
+// Checksum2 = (~Checksum1)&0xFE
+ txBuf[5] = txBuf[2]^txBuf[3]^txBuf[4];
+
+ for(i=1; i<(taille-6); i++) {
+ txBuf[5]=txBuf[5]^txBuf[6+i];
+ }
+ txBuf[5] = txBuf[5]& 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+
+// send packet (mbed -> herkulex)
+ if(numero_serial == 1) {
+ for(uint8_t i = 0; i < taille ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < taille ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < taille ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < taille ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < taille ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ }
+
+ /*for(uint8_t i = 0; i < taille ; i++)
+ {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }*/
+ wait(tempo);
+ wait_ms(TEMPO_R);
+}
+//---------------fonction pour lire la tension minimale pour un servo----------------
+int8_t Get_Tension_MIN(int8_t id, uint8_t numero_serial)
+{
+ serial_numero = numero_serial;
+ uint8_t txBuf[9];
+ int8_t tensionMIN = 0;
+
+ 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; // Command Ram Read
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = RAM_MIN_VOLTAGE;
+ txBuf[8] = BYTE1; // Length
+ // Check Sum1 and Check Sum2
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]) & 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+
+ //pc.printf(" tensionMIN ");
+
+ uint8_t rxBuf[12];
+
+ if(numero_serial == 1) {
+ //send packet (mbed -> herkulex)
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+
+ //send packet (mbed -> herkulex)
+ //uint8_t rxBuf[12];
+ wait_ms(TEMPO_R);
+ if(flag_serial1_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial1; i4++) {
+ rxBuf[i4] = char_receive_serial1[i4];
+ //////pc.printf("%d ",(int)char_receive_serial1[i4]);
+ }
+ flag_serial1_receive=0;
+ valueserial1=0;
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial2_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial2; i4++) {
+ rxBuf[i4] = char_receive_serial2[i4];
+ //////pc.printf("%d ",(int)char_receive_serial2[i4]);
+ }
+ flag_serial2_receive=0;
+ valueserial2=0;
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial3_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial3; i4++) {
+ rxBuf[i4] = char_receive_serial3[i4];
+ //////pc.printf("%d ",(int)char_receive_serial3[i4]);
+ }
+ flag_serial3_receive=0;
+ valueserial3=0;
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial4_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial4; i4++) {
+ rxBuf[i4] = char_receive_serial4[i4];
+ //////pc.printf("%d ",(int)char_receive_serial4[i4]);
+ }
+ flag_serial4_receive=0;
+ valueserial4=0;
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial5_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial5; i4++) {
+ rxBuf[i4] = char_receive_serial5[i4];
+ //////pc.printf("%d ",(int)char_receive_serial5[i4]);
+ }
+ flag_serial5_receive=0;
+ valueserial5=0;
+ }
+ }
+
+ /*for(uint8_t i = 0; i < 9 ; i++)
+ {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+
+ // send packet (mbed -> herkulex)
+ uint8_t rxBuf[12];
+ //wait_ms(3);
+ wait_ms(TEMPO_R);
+ if(flag_serial1_receive)
+ {
+ for(unsigned char i4=0;i4<Size_trame_serial1; i4++)
+ {
+ rxBuf[i4] = char_receive_serial1[i4];
+ ////pc.printf("%d ",(int)char_receive_serial1[i4]);
+ }
+ flag_serial1_receive=0;
+ valueserial1=0;
+ }*/
+
+ uint8_t chksum1 = (rxBuf[2]^rxBuf[3]^rxBuf[4]^rxBuf[7]^rxBuf[8]^rxBuf[9]^rxBuf[10]^rxBuf[11]) & 0xFE;
+ if (chksum1 != rxBuf[5]) {
+ /*#ifdef HERKULEX_DEBUG
+ pc->printf("Checksum1 fault\n");
+ #endif*/
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+// Checksum2
+ uint8_t chksum2 = (~rxBuf[5]&0xFE);
+ if (chksum2 != rxBuf[6]) {
+ /* #ifdef HERKULEX_DEBUG
+ pc->printf("Checksum2 fault\n");
+ #endif*/
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+ tensionMIN = rxBuf[9];
+ /* #ifdef HERKULEX_DEBUG
+ pc->printf("position = %04X(%d)\n", position, position);
+ #endif*/
+//}
+ return tensionMIN;
+}
+//-------------fonction pour controle la tension min pour un servo--------------
+void Set_Tension_MIN(int8_t id,uint8_t Tension_Min, uint8_t numero_serial)
+{
+ serial_numero = numero_serial;
+ uint8_t txBuf[10];
+
+ txBuf[0] = HEADER; // Packet Header (0xFF)
+ txBuf[1] = HEADER; // Packet Header (0xFF)
+ txBuf[2] = MIN_PACKET_SIZE + 3; // Packet Size
+ txBuf[3] = id; // Servo ID
+ txBuf[4] = CMD_RAM_WRITE; // Command Ram Write (0x03)
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = RAM_MIN_VOLTAGE;
+ txBuf[8] = BYTE1; // Length
+ txBuf[9] = Tension_Min;
+ // Check Sum1 and Check Sum2
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]^txBuf[9]) & 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+
+ //pc.printf(" tensionMIN ");
+ /*for(uint8_t i = 0; i < 10 ; i++)
+ {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }*/
+ if(numero_serial == 1) {
+ for(uint8_t i = 0; i < 10 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 10 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 10 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 10 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 10 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ }
+ //wait_ms(3);
+ wait_ms(TEMPO_R);
+}
+//------------fonction pour lire la tension d'un servo-------------
+int8_t Get_Tension_actuelle(int8_t id, uint8_t numero_serial)
+{
+ serial_numero = numero_serial;
+ uint8_t txBuf[9];
+ int8_t tension = 0;
+
+ 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; // Command Ram Read (0x03)
+ txBuf[5] = 0; // Checksum1
+ txBuf[6] = 0; // Checksum2
+ txBuf[7] = RAM_VOLTAGE;
+ txBuf[8] = BYTE2; // Length
+ // Check Sum1 and Check Sum2
+ txBuf[5] = (txBuf[2]^txBuf[3]^txBuf[4]^txBuf[7]^txBuf[8]) & 0xFE;
+ txBuf[6] = (~txBuf[5])&0xFE;
+
+ //pc.printf(" tension ");
+
+ uint8_t rxBuf[13];
+
+ if(numero_serial == 1) {
+ //send packet (mbed -> herkulex)
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+
+ //send packet (mbed -> herkulex)
+ //uint8_t rxBuf[13];
+ wait_ms(TEMPO_R);
+ if(flag_serial1_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial1; i4++) {
+ rxBuf[i4] = char_receive_serial1[i4];
+ //////pc.printf("%d ",(int)char_receive_serial1[i4]);
+ }
+ flag_serial1_receive=0;
+ valueserial1=0;
+ }
+ } else if(numero_serial == 2) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial2.writeable() == 0);
+ serial2.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial2_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial2; i4++) {
+ rxBuf[i4] = char_receive_serial2[i4];
+ //////pc.printf("%d ",(int)char_receive_serial2[i4]);
+ }
+ flag_serial2_receive=0;
+ valueserial2=0;
+ }
+ } else if(numero_serial == 3) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial3.writeable() == 0);
+ serial3.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial3_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial3; i4++) {
+ rxBuf[i4] = char_receive_serial3[i4];
+ //////pc.printf("%d ",(int)char_receive_serial3[i4]);
+ }
+ flag_serial3_receive=0;
+ valueserial3=0;
+ }
+ } else if(numero_serial == 4) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial4.writeable() == 0);
+ serial4.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial4_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial4; i4++) {
+ rxBuf[i4] = char_receive_serial4[i4];
+ //////pc.printf("%d ",(int)char_receive_serial4[i4]);
+ }
+ flag_serial4_receive=0;
+ valueserial4=0;
+ }
+ } else if(numero_serial == 5) {
+ for(uint8_t i = 0; i < 9 ; i++) {
+ while(serial5.writeable() == 0);
+ serial5.putc(txBuf[i]);
+ wait_us(100);
+ }
+ wait_ms(TEMPO_R);
+ if(flag_serial5_receive) {
+ for(unsigned char i4=0; i4<Size_trame_serial5; i4++) {
+ rxBuf[i4] = char_receive_serial5[i4];
+ //////pc.printf("%d ",(int)char_receive_serial5[i4]);
+ }
+ flag_serial5_receive=0;
+ valueserial5=0;
+ }
+ }
+ /*
+ for(uint8_t i = 0; i < 9 ; i++)
+ {
+ while(serial1.writeable() == 0);
+ serial1.putc(txBuf[i]);
+ wait_us(100);
+ }
+
+ // send packet (mbed -> herkulex)
+ uint8_t rxBuf[13];
+ //wait_ms(3);
+ wait_ms(TEMPO_R);
+ if(flag_serial1_receive)
+ {
+ for(unsigned char i4=0;i4<Size_trame_serial1; i4++)
+ {
+ rxBuf[i4] = char_receive_serial1[i4];
+ ////pc.printf("%d ",(int)char_receive_serial1[i4]);
+ }
+ flag_serial1_receive=0;
+ valueserial1=0;
+ }
+ */
+
+ 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*/
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+// Checksum2
+ uint8_t chksum2 = (~rxBuf[5]&0xFE);
+ if (chksum2 != rxBuf[6]) {
+ /* #ifdef HERKULEX_DEBUG
+ pc->printf("Checksum2 fault\n");
+ #endif*/
+ if(numero_serial == 1) {
+ flag_serial1_receive=0;
+ } else if(numero_serial == 2) {
+ flag_serial2_receive=0;
+ }
+ return -1;
+ }
+ tension = rxBuf[9];
+ /* #ifdef HERKULEX_DEBUG
+ pc->printf("position = %04X(%d)\n", position, position);
+ #endif*/
+//}
+ return tension;
+}
+
+//---------------------------------------Petit robot---------------------------------------------------------
+/*void gros_robot_init(void)
+{
+void palet_accelerateur(){
+ compteTour(ID,1000,1,1,PLED_ON,serialbarillet);
+ }
+void palet_balance(){
+ compteTour(ID,-1000,1,1,PLED_ON,serialbarillet);
+ }
+void sortie_balance()
+ {
+
+ }
+
+ */
+
+
+//-----------------------------------------------------------------------------------------
+void servo_interrupt_en(void)
+{
+ Interrupt1_en();
+ Interrupt2_en();
+ Interrupt3_en();
+ Interrupt4_en();
+ Interrupt5_en();
+}
+
+//---------------------------------------------------------------------------------------------