Dyanamixel
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AX12.h@0:10c9fb86002f, 2015-03-31 (annotated)
- Committer:
- yusuke_kyo
- Date:
- Tue Mar 31 09:45:27 2015 +0000
- Revision:
- 0:10c9fb86002f
- Child:
- 1:3ac0919c093f
Dynamixel
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yusuke_kyo | 0:10c9fb86002f | 1 | /* mbed AX-12+ Servo Library |
yusuke_kyo | 0:10c9fb86002f | 2 | * |
yusuke_kyo | 0:10c9fb86002f | 3 | * Copyright (c) 2010, cstyles (http://mbed.org) |
yusuke_kyo | 0:10c9fb86002f | 4 | * |
yusuke_kyo | 0:10c9fb86002f | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
yusuke_kyo | 0:10c9fb86002f | 6 | * of this software and associated documentation files (the "Software"), to deal |
yusuke_kyo | 0:10c9fb86002f | 7 | * in the Software without restriction, including without limitation the rights |
yusuke_kyo | 0:10c9fb86002f | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
yusuke_kyo | 0:10c9fb86002f | 9 | * copies of the Software, and to permit persons to whom the Software is |
yusuke_kyo | 0:10c9fb86002f | 10 | * furnished to do so, subject to the following conditions: |
yusuke_kyo | 0:10c9fb86002f | 11 | * |
yusuke_kyo | 0:10c9fb86002f | 12 | * The above copyright notice and this permission notice shall be included in |
yusuke_kyo | 0:10c9fb86002f | 13 | * all copies or substantial portions of the Software. |
yusuke_kyo | 0:10c9fb86002f | 14 | * |
yusuke_kyo | 0:10c9fb86002f | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
yusuke_kyo | 0:10c9fb86002f | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
yusuke_kyo | 0:10c9fb86002f | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
yusuke_kyo | 0:10c9fb86002f | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
yusuke_kyo | 0:10c9fb86002f | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
yusuke_kyo | 0:10c9fb86002f | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
yusuke_kyo | 0:10c9fb86002f | 21 | * THE SOFTWARE. |
yusuke_kyo | 0:10c9fb86002f | 22 | */ |
yusuke_kyo | 0:10c9fb86002f | 23 | |
yusuke_kyo | 0:10c9fb86002f | 24 | #ifndef MBED_AX12_H |
yusuke_kyo | 0:10c9fb86002f | 25 | #define MBED_AX12_H |
yusuke_kyo | 0:10c9fb86002f | 26 | |
yusuke_kyo | 0:10c9fb86002f | 27 | #include "mbed.h" |
yusuke_kyo | 0:10c9fb86002f | 28 | #include "SerialHalfDuplex.h" |
yusuke_kyo | 0:10c9fb86002f | 29 | |
yusuke_kyo | 0:10c9fb86002f | 30 | #define AX12_WRITE_DEBUG 0 |
yusuke_kyo | 0:10c9fb86002f | 31 | #define AX12_READ_DEBUG 0 |
yusuke_kyo | 0:10c9fb86002f | 32 | #define AX12_TRIGGER_DEBUG 0 |
yusuke_kyo | 0:10c9fb86002f | 33 | #define AX12_DEBUG 0 |
yusuke_kyo | 0:10c9fb86002f | 34 | |
yusuke_kyo | 0:10c9fb86002f | 35 | #define AX12_REG_ID 0x3 |
yusuke_kyo | 0:10c9fb86002f | 36 | #define AX12_REG_CW_LIMIT 0x06 |
yusuke_kyo | 0:10c9fb86002f | 37 | #define AX12_REG_CCW_LIMIT 0x08 |
yusuke_kyo | 0:10c9fb86002f | 38 | #define AX12_REG_TORQUE_ENABLE 0x18 |
yusuke_kyo | 0:10c9fb86002f | 39 | #define AX12_REG_GOAL_POSITION 0x1E |
yusuke_kyo | 0:10c9fb86002f | 40 | #define AX12_REG_MOVING_SPEED 0x20 |
yusuke_kyo | 0:10c9fb86002f | 41 | #define AX12_REG_VOLTS 0x2A |
yusuke_kyo | 0:10c9fb86002f | 42 | #define AX12_REG_TEMP 0x2B |
yusuke_kyo | 0:10c9fb86002f | 43 | #define AX12_REG_MOVING 0x2E |
yusuke_kyo | 0:10c9fb86002f | 44 | #define AX12_REG_POSITION 0x24 |
yusuke_kyo | 0:10c9fb86002f | 45 | |
yusuke_kyo | 0:10c9fb86002f | 46 | #define AX12_MODE_POSITION 0 |
yusuke_kyo | 0:10c9fb86002f | 47 | #define AX12_MODE_ROTATION 1 |
yusuke_kyo | 0:10c9fb86002f | 48 | |
yusuke_kyo | 0:10c9fb86002f | 49 | #define AX12_CW 1 |
yusuke_kyo | 0:10c9fb86002f | 50 | #define AX12_CCW 0 |
yusuke_kyo | 0:10c9fb86002f | 51 | |
yusuke_kyo | 0:10c9fb86002f | 52 | /** Servo control class, based on a PwmOut |
yusuke_kyo | 0:10c9fb86002f | 53 | * |
yusuke_kyo | 0:10c9fb86002f | 54 | * Example: |
yusuke_kyo | 0:10c9fb86002f | 55 | * @code |
yusuke_kyo | 0:10c9fb86002f | 56 | * #include "mbed.h" |
yusuke_kyo | 0:10c9fb86002f | 57 | * #include "AX12.h" |
yusuke_kyo | 0:10c9fb86002f | 58 | * |
yusuke_kyo | 0:10c9fb86002f | 59 | * int main() { |
yusuke_kyo | 0:10c9fb86002f | 60 | * |
yusuke_kyo | 0:10c9fb86002f | 61 | * AX12 myax12 (p9, p10, 1); |
yusuke_kyo | 0:10c9fb86002f | 62 | * |
yusuke_kyo | 0:10c9fb86002f | 63 | * while (1) { |
yusuke_kyo | 0:10c9fb86002f | 64 | * myax12.SetGoal(0); // go to 0 degrees |
yusuke_kyo | 0:10c9fb86002f | 65 | * wait (2.0); |
yusuke_kyo | 0:10c9fb86002f | 66 | * myax12.SetGoal(300); // go to 300 degrees |
yusuke_kyo | 0:10c9fb86002f | 67 | * wait (2.0); |
yusuke_kyo | 0:10c9fb86002f | 68 | * } |
yusuke_kyo | 0:10c9fb86002f | 69 | * } |
yusuke_kyo | 0:10c9fb86002f | 70 | * @endcode |
yusuke_kyo | 0:10c9fb86002f | 71 | */ |
yusuke_kyo | 0:10c9fb86002f | 72 | class AX12 { |
yusuke_kyo | 0:10c9fb86002f | 73 | |
yusuke_kyo | 0:10c9fb86002f | 74 | public: |
yusuke_kyo | 0:10c9fb86002f | 75 | |
yusuke_kyo | 0:10c9fb86002f | 76 | /** Create an AX12 servo object connected to the specified serial port, with the specified ID |
yusuke_kyo | 0:10c9fb86002f | 77 | * |
yusuke_kyo | 0:10c9fb86002f | 78 | * @param pin tx pin |
yusuke_kyo | 0:10c9fb86002f | 79 | * @param pin rx pin |
yusuke_kyo | 0:10c9fb86002f | 80 | * @param int ID, the Bus ID of the servo 1-255 |
yusuke_kyo | 0:10c9fb86002f | 81 | */ |
yusuke_kyo | 0:10c9fb86002f | 82 | AX12(PinName tx, PinName rx, int ID); |
yusuke_kyo | 0:10c9fb86002f | 83 | |
yusuke_kyo | 0:10c9fb86002f | 84 | /** Set the mode of the servo |
yusuke_kyo | 0:10c9fb86002f | 85 | * @param mode |
yusuke_kyo | 0:10c9fb86002f | 86 | * 0 = Positional, default |
yusuke_kyo | 0:10c9fb86002f | 87 | * 1 = Continuous rotation |
yusuke_kyo | 0:10c9fb86002f | 88 | */ |
yusuke_kyo | 0:10c9fb86002f | 89 | int SetMode(int mode); |
yusuke_kyo | 0:10c9fb86002f | 90 | |
yusuke_kyo | 0:10c9fb86002f | 91 | /** Set goal angle in integer degrees, in positional mode |
yusuke_kyo | 0:10c9fb86002f | 92 | * |
yusuke_kyo | 0:10c9fb86002f | 93 | * @param degrees 0-300 |
yusuke_kyo | 0:10c9fb86002f | 94 | * @param flags, defaults to 0 |
yusuke_kyo | 0:10c9fb86002f | 95 | * flags[0] = blocking, return when goal position reached |
yusuke_kyo | 0:10c9fb86002f | 96 | * flags[1] = register, activate with a broadcast trigger |
yusuke_kyo | 0:10c9fb86002f | 97 | * |
yusuke_kyo | 0:10c9fb86002f | 98 | */ |
yusuke_kyo | 0:10c9fb86002f | 99 | int SetGoal(int degrees, int flags = 0); |
yusuke_kyo | 0:10c9fb86002f | 100 | |
yusuke_kyo | 0:10c9fb86002f | 101 | |
yusuke_kyo | 0:10c9fb86002f | 102 | /** Set the speed of the servo in continuous rotation mode |
yusuke_kyo | 0:10c9fb86002f | 103 | * |
yusuke_kyo | 0:10c9fb86002f | 104 | * @param speed, -1.0 to 1.0 |
yusuke_kyo | 0:10c9fb86002f | 105 | * -1.0 = full speed counter clock wise |
yusuke_kyo | 0:10c9fb86002f | 106 | * 1.0 = full speed clock wise |
yusuke_kyo | 0:10c9fb86002f | 107 | */ |
yusuke_kyo | 0:10c9fb86002f | 108 | int SetCRSpeed(float speed); |
yusuke_kyo | 0:10c9fb86002f | 109 | |
yusuke_kyo | 0:10c9fb86002f | 110 | |
yusuke_kyo | 0:10c9fb86002f | 111 | /** Set the clockwise limit of the servo |
yusuke_kyo | 0:10c9fb86002f | 112 | * |
yusuke_kyo | 0:10c9fb86002f | 113 | * @param degrees, 0-300 |
yusuke_kyo | 0:10c9fb86002f | 114 | */ |
yusuke_kyo | 0:10c9fb86002f | 115 | int SetCWLimit(int degrees); |
yusuke_kyo | 0:10c9fb86002f | 116 | |
yusuke_kyo | 0:10c9fb86002f | 117 | /** Set the counter-clockwise limit of the servo |
yusuke_kyo | 0:10c9fb86002f | 118 | * |
yusuke_kyo | 0:10c9fb86002f | 119 | * @param degrees, 0-300 |
yusuke_kyo | 0:10c9fb86002f | 120 | */ |
yusuke_kyo | 0:10c9fb86002f | 121 | int SetCCWLimit(int degrees); |
yusuke_kyo | 0:10c9fb86002f | 122 | |
yusuke_kyo | 0:10c9fb86002f | 123 | // Change the ID |
yusuke_kyo | 0:10c9fb86002f | 124 | |
yusuke_kyo | 0:10c9fb86002f | 125 | /** Change the ID of a servo |
yusuke_kyo | 0:10c9fb86002f | 126 | * |
yusuke_kyo | 0:10c9fb86002f | 127 | * @param CurentID 1-255 |
yusuke_kyo | 0:10c9fb86002f | 128 | * @param NewID 1-255 |
yusuke_kyo | 0:10c9fb86002f | 129 | * |
yusuke_kyo | 0:10c9fb86002f | 130 | * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID. |
yusuke_kyo | 0:10c9fb86002f | 131 | * In this situation, only one servo should be connected to the bus |
yusuke_kyo | 0:10c9fb86002f | 132 | */ |
yusuke_kyo | 0:10c9fb86002f | 133 | int SetID(int CurrentID, int NewID); |
yusuke_kyo | 0:10c9fb86002f | 134 | |
yusuke_kyo | 0:10c9fb86002f | 135 | |
yusuke_kyo | 0:10c9fb86002f | 136 | /** Poll to see if the servo is moving |
yusuke_kyo | 0:10c9fb86002f | 137 | * |
yusuke_kyo | 0:10c9fb86002f | 138 | * @returns true is the servo is moving |
yusuke_kyo | 0:10c9fb86002f | 139 | */ |
yusuke_kyo | 0:10c9fb86002f | 140 | int isMoving(void); |
yusuke_kyo | 0:10c9fb86002f | 141 | |
yusuke_kyo | 0:10c9fb86002f | 142 | /** Send the broadcast "trigger" command, to activate any outstanding registered commands |
yusuke_kyo | 0:10c9fb86002f | 143 | */ |
yusuke_kyo | 0:10c9fb86002f | 144 | void trigger(void); |
yusuke_kyo | 0:10c9fb86002f | 145 | |
yusuke_kyo | 0:10c9fb86002f | 146 | /** Read the current angle of the servo |
yusuke_kyo | 0:10c9fb86002f | 147 | * |
yusuke_kyo | 0:10c9fb86002f | 148 | * @returns float in the range 0.0-300.0 |
yusuke_kyo | 0:10c9fb86002f | 149 | */ |
yusuke_kyo | 0:10c9fb86002f | 150 | float GetPosition(); |
yusuke_kyo | 0:10c9fb86002f | 151 | |
yusuke_kyo | 0:10c9fb86002f | 152 | /** Read the temperature of the servo |
yusuke_kyo | 0:10c9fb86002f | 153 | * |
yusuke_kyo | 0:10c9fb86002f | 154 | * @returns float temperature |
yusuke_kyo | 0:10c9fb86002f | 155 | */ |
yusuke_kyo | 0:10c9fb86002f | 156 | float GetTemp(void); |
yusuke_kyo | 0:10c9fb86002f | 157 | |
yusuke_kyo | 0:10c9fb86002f | 158 | /** Read the supply voltage of the servo |
yusuke_kyo | 0:10c9fb86002f | 159 | * |
yusuke_kyo | 0:10c9fb86002f | 160 | * @returns float voltage |
yusuke_kyo | 0:10c9fb86002f | 161 | */ |
yusuke_kyo | 0:10c9fb86002f | 162 | float GetVolts(void); |
yusuke_kyo | 0:10c9fb86002f | 163 | |
yusuke_kyo | 0:10c9fb86002f | 164 | float TorqueEnable(int mode); |
yusuke_kyo | 0:10c9fb86002f | 165 | |
yusuke_kyo | 0:10c9fb86002f | 166 | private : |
yusuke_kyo | 0:10c9fb86002f | 167 | |
yusuke_kyo | 0:10c9fb86002f | 168 | SerialHalfDuplex _ax12; |
yusuke_kyo | 0:10c9fb86002f | 169 | int _ID; |
yusuke_kyo | 0:10c9fb86002f | 170 | |
yusuke_kyo | 0:10c9fb86002f | 171 | int read(int ID, int start, int length, char* data); |
yusuke_kyo | 0:10c9fb86002f | 172 | int write(int ID, int start, int length, char* data, int flag=0); |
yusuke_kyo | 0:10c9fb86002f | 173 | |
yusuke_kyo | 0:10c9fb86002f | 174 | }; |
yusuke_kyo | 0:10c9fb86002f | 175 | |
yusuke_kyo | 0:10c9fb86002f | 176 | #endif |