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MX28.cpp@6:5ce46b6748fd, 2015-04-22 (annotated)
- Committer:
- yusuke_kyo
- Date:
- Wed Apr 22 18:06:00 2015 +0000
- Revision:
- 6:5ce46b6748fd
- Parent:
- 5:950c4f4f73c6
- Child:
- 8:4b2c48ab30fe
correct GetGoal
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 | #include "MX28.h" |
yusuke_kyo | 0:10c9fb86002f | 25 | #include "mbed.h" |
yusuke_kyo | 0:10c9fb86002f | 26 | //#include "SerialHalfDuplex.h" |
yusuke_kyo | 0:10c9fb86002f | 27 | |
yusuke_kyo | 5:950c4f4f73c6 | 28 | MX28::MX28(PinName tx, PinName rx, int ID, int baudrate) |
yusuke_kyo | 0:10c9fb86002f | 29 | : _mx28(tx,rx) { |
yusuke_kyo | 0:10c9fb86002f | 30 | |
yusuke_kyo | 5:950c4f4f73c6 | 31 | _mx28.baud(baudrate); |
yusuke_kyo | 0:10c9fb86002f | 32 | _ID = ID; |
yusuke_kyo | 0:10c9fb86002f | 33 | } |
yusuke_kyo | 0:10c9fb86002f | 34 | |
yusuke_kyo | 0:10c9fb86002f | 35 | // Set the mode of the servo |
yusuke_kyo | 0:10c9fb86002f | 36 | // 0 = Positional (0-300 degrees) |
yusuke_kyo | 0:10c9fb86002f | 37 | // 1 = Rotational -1 to 1 speed |
yusuke_kyo | 0:10c9fb86002f | 38 | int MX28::SetMode(int mode) { |
yusuke_kyo | 0:10c9fb86002f | 39 | |
yusuke_kyo | 0:10c9fb86002f | 40 | if (mode == 1) { // set CR |
yusuke_kyo | 0:10c9fb86002f | 41 | SetCWLimit(0); |
yusuke_kyo | 0:10c9fb86002f | 42 | SetCCWLimit(0); |
yusuke_kyo | 0:10c9fb86002f | 43 | SetCRSpeed(0.0); |
yusuke_kyo | 0:10c9fb86002f | 44 | } else { |
yusuke_kyo | 0:10c9fb86002f | 45 | SetCWLimit(0); |
yusuke_kyo | 2:08072af3e9da | 46 | SetCCWLimit(360); |
yusuke_kyo | 0:10c9fb86002f | 47 | SetCRSpeed(0.0); |
yusuke_kyo | 0:10c9fb86002f | 48 | } |
yusuke_kyo | 0:10c9fb86002f | 49 | return(0); |
yusuke_kyo | 0:10c9fb86002f | 50 | } |
yusuke_kyo | 0:10c9fb86002f | 51 | |
yusuke_kyo | 0:10c9fb86002f | 52 | |
yusuke_kyo | 0:10c9fb86002f | 53 | // if flag[0] is set, were blocking |
yusuke_kyo | 0:10c9fb86002f | 54 | // if flag[1] is set, we're registering |
yusuke_kyo | 0:10c9fb86002f | 55 | // they are mutually exclusive operations |
yusuke_kyo | 0:10c9fb86002f | 56 | int MX28::SetGoal(int degrees, int flags) { |
yusuke_kyo | 0:10c9fb86002f | 57 | |
yusuke_kyo | 0:10c9fb86002f | 58 | char reg_flag = 0; |
yusuke_kyo | 0:10c9fb86002f | 59 | char data[2]; |
yusuke_kyo | 0:10c9fb86002f | 60 | |
yusuke_kyo | 0:10c9fb86002f | 61 | // set the flag is only the register bit is set in the flag |
yusuke_kyo | 0:10c9fb86002f | 62 | if (flags == 0x2) { |
yusuke_kyo | 0:10c9fb86002f | 63 | reg_flag = 1; |
yusuke_kyo | 0:10c9fb86002f | 64 | } |
yusuke_kyo | 0:10c9fb86002f | 65 | |
yusuke_kyo | 0:10c9fb86002f | 66 | // 4095 / 360 * degrees |
yusuke_kyo | 0:10c9fb86002f | 67 | short goal = (4095 * degrees) / 360; |
yusuke_kyo | 0:10c9fb86002f | 68 | if (MX28_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 69 | printf("SetGoal to 0x%x\n",goal); |
yusuke_kyo | 0:10c9fb86002f | 70 | } |
yusuke_kyo | 0:10c9fb86002f | 71 | |
yusuke_kyo | 0:10c9fb86002f | 72 | data[0] = goal & 0xff; // bottom 8 bits |
yusuke_kyo | 0:10c9fb86002f | 73 | data[1] = goal >> 8; // top 8 bits |
yusuke_kyo | 0:10c9fb86002f | 74 | |
yusuke_kyo | 0:10c9fb86002f | 75 | // write the packet, return the error code |
yusuke_kyo | 0:10c9fb86002f | 76 | int rVal = write(_ID, MX28_REG_GOAL_POSITION, 2, data, reg_flag); |
yusuke_kyo | 0:10c9fb86002f | 77 | |
yusuke_kyo | 0:10c9fb86002f | 78 | if (flags == 1) { |
yusuke_kyo | 0:10c9fb86002f | 79 | // block until it comes to a halt |
yusuke_kyo | 0:10c9fb86002f | 80 | while (isMoving()) {} |
yusuke_kyo | 0:10c9fb86002f | 81 | } |
yusuke_kyo | 0:10c9fb86002f | 82 | return(rVal); |
yusuke_kyo | 0:10c9fb86002f | 83 | } |
yusuke_kyo | 0:10c9fb86002f | 84 | |
yusuke_kyo | 0:10c9fb86002f | 85 | |
yusuke_kyo | 0:10c9fb86002f | 86 | // Set continuous rotation speed from -1 to 1 |
yusuke_kyo | 0:10c9fb86002f | 87 | int MX28::SetCRSpeed(float speed) { |
yusuke_kyo | 0:10c9fb86002f | 88 | |
yusuke_kyo | 0:10c9fb86002f | 89 | // bit 10 = direction, 0 = CCW, 1=CW |
yusuke_kyo | 0:10c9fb86002f | 90 | // bits 9-0 = Speed |
yusuke_kyo | 0:10c9fb86002f | 91 | char data[2]; |
yusuke_kyo | 0:10c9fb86002f | 92 | |
yusuke_kyo | 0:10c9fb86002f | 93 | int goal = (0x3ff * abs(speed)); |
yusuke_kyo | 0:10c9fb86002f | 94 | |
yusuke_kyo | 6:5ce46b6748fd | 95 | if (MX28_DEBUG) { |
yusuke_kyo | 6:5ce46b6748fd | 96 | printf("SetCRSpeed to 0x%x\n",goal); |
yusuke_kyo | 6:5ce46b6748fd | 97 | } |
yusuke_kyo | 6:5ce46b6748fd | 98 | |
yusuke_kyo | 0:10c9fb86002f | 99 | // Set direction CW if we have a negative speed |
yusuke_kyo | 0:10c9fb86002f | 100 | if (speed < 0) { |
yusuke_kyo | 0:10c9fb86002f | 101 | goal |= (0x1 << 10); |
yusuke_kyo | 0:10c9fb86002f | 102 | } |
yusuke_kyo | 0:10c9fb86002f | 103 | |
yusuke_kyo | 0:10c9fb86002f | 104 | data[0] = goal & 0xff; // bottom 8 bits |
yusuke_kyo | 0:10c9fb86002f | 105 | data[1] = goal >> 8; // top 8 bits |
yusuke_kyo | 0:10c9fb86002f | 106 | |
yusuke_kyo | 0:10c9fb86002f | 107 | // write the packet, return the error code |
yusuke_kyo | 0:10c9fb86002f | 108 | int rVal = write(_ID, 0x20, 2, data); |
yusuke_kyo | 0:10c9fb86002f | 109 | |
yusuke_kyo | 0:10c9fb86002f | 110 | return(rVal); |
yusuke_kyo | 0:10c9fb86002f | 111 | } |
yusuke_kyo | 0:10c9fb86002f | 112 | |
yusuke_kyo | 0:10c9fb86002f | 113 | |
yusuke_kyo | 0:10c9fb86002f | 114 | int MX28::SetCWLimit (int degrees) { |
yusuke_kyo | 0:10c9fb86002f | 115 | |
yusuke_kyo | 0:10c9fb86002f | 116 | char data[2]; |
yusuke_kyo | 0:10c9fb86002f | 117 | |
yusuke_kyo | 0:10c9fb86002f | 118 | // 4095 / 360 * degrees |
yusuke_kyo | 0:10c9fb86002f | 119 | short limit = (4095 * degrees) / 360; |
yusuke_kyo | 0:10c9fb86002f | 120 | |
yusuke_kyo | 0:10c9fb86002f | 121 | if (MX28_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 122 | printf("SetCWLimit to 0x%x\n",limit); |
yusuke_kyo | 0:10c9fb86002f | 123 | } |
yusuke_kyo | 0:10c9fb86002f | 124 | |
yusuke_kyo | 0:10c9fb86002f | 125 | data[0] = limit & 0xff; // bottom 8 bits |
yusuke_kyo | 0:10c9fb86002f | 126 | data[1] = limit >> 8; // top 8 bits |
yusuke_kyo | 0:10c9fb86002f | 127 | |
yusuke_kyo | 0:10c9fb86002f | 128 | // write the packet, return the error code |
yusuke_kyo | 0:10c9fb86002f | 129 | return (write(_ID, MX28_REG_CW_LIMIT, 2, data)); |
yusuke_kyo | 0:10c9fb86002f | 130 | |
yusuke_kyo | 0:10c9fb86002f | 131 | } |
yusuke_kyo | 0:10c9fb86002f | 132 | |
yusuke_kyo | 1:3ac0919c093f | 133 | |
yusuke_kyo | 0:10c9fb86002f | 134 | int MX28::SetCCWLimit (int degrees) { |
yusuke_kyo | 0:10c9fb86002f | 135 | |
yusuke_kyo | 0:10c9fb86002f | 136 | char data[2]; |
yusuke_kyo | 0:10c9fb86002f | 137 | |
yusuke_kyo | 0:10c9fb86002f | 138 | // 4095 / 360 * degrees |
yusuke_kyo | 0:10c9fb86002f | 139 | short limit = (4095 * degrees) / 360; |
yusuke_kyo | 0:10c9fb86002f | 140 | |
yusuke_kyo | 0:10c9fb86002f | 141 | if (MX28_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 142 | printf("SetCCWLimit to 0x%x\n",limit); |
yusuke_kyo | 0:10c9fb86002f | 143 | } |
yusuke_kyo | 0:10c9fb86002f | 144 | |
yusuke_kyo | 0:10c9fb86002f | 145 | data[0] = limit & 0xff; // bottom 8 bits |
yusuke_kyo | 0:10c9fb86002f | 146 | data[1] = limit >> 8; // top 8 bits |
yusuke_kyo | 0:10c9fb86002f | 147 | |
yusuke_kyo | 0:10c9fb86002f | 148 | // write the packet, return the error code |
yusuke_kyo | 0:10c9fb86002f | 149 | return (write(_ID, MX28_REG_CCW_LIMIT, 2, data)); |
yusuke_kyo | 0:10c9fb86002f | 150 | } |
yusuke_kyo | 0:10c9fb86002f | 151 | |
yusuke_kyo | 0:10c9fb86002f | 152 | |
yusuke_kyo | 0:10c9fb86002f | 153 | int MX28::SetID (int CurrentID, int NewID) { |
yusuke_kyo | 0:10c9fb86002f | 154 | |
yusuke_kyo | 0:10c9fb86002f | 155 | char data[1]; |
yusuke_kyo | 0:10c9fb86002f | 156 | data[0] = NewID; |
yusuke_kyo | 0:10c9fb86002f | 157 | if (MX28_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 158 | printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID); |
yusuke_kyo | 0:10c9fb86002f | 159 | } |
yusuke_kyo | 0:10c9fb86002f | 160 | return (write(CurrentID, MX28_REG_ID, 1, data)); |
yusuke_kyo | 0:10c9fb86002f | 161 | |
yusuke_kyo | 0:10c9fb86002f | 162 | } |
yusuke_kyo | 0:10c9fb86002f | 163 | |
yusuke_kyo | 0:10c9fb86002f | 164 | |
yusuke_kyo | 0:10c9fb86002f | 165 | // return 1 is the servo is still in flight |
yusuke_kyo | 0:10c9fb86002f | 166 | int MX28::isMoving(void) { |
yusuke_kyo | 0:10c9fb86002f | 167 | |
yusuke_kyo | 0:10c9fb86002f | 168 | char data[1]; |
yusuke_kyo | 0:10c9fb86002f | 169 | read(_ID,MX28_REG_MOVING,1,data); |
yusuke_kyo | 0:10c9fb86002f | 170 | return(data[0]); |
yusuke_kyo | 0:10c9fb86002f | 171 | } |
yusuke_kyo | 0:10c9fb86002f | 172 | |
yusuke_kyo | 0:10c9fb86002f | 173 | |
yusuke_kyo | 0:10c9fb86002f | 174 | void MX28::trigger(void) { |
yusuke_kyo | 0:10c9fb86002f | 175 | |
yusuke_kyo | 0:10c9fb86002f | 176 | char TxBuf[16]; |
yusuke_kyo | 0:10c9fb86002f | 177 | char sum = 0; |
yusuke_kyo | 0:10c9fb86002f | 178 | |
yusuke_kyo | 0:10c9fb86002f | 179 | if (MX28_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 180 | printf("\nTriggered\n"); |
yusuke_kyo | 0:10c9fb86002f | 181 | } |
yusuke_kyo | 0:10c9fb86002f | 182 | |
yusuke_kyo | 0:10c9fb86002f | 183 | // Build the TxPacket first in RAM, then we'll send in one go |
yusuke_kyo | 0:10c9fb86002f | 184 | if (MX28_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 185 | printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n"); |
yusuke_kyo | 0:10c9fb86002f | 186 | } |
yusuke_kyo | 0:10c9fb86002f | 187 | |
yusuke_kyo | 0:10c9fb86002f | 188 | TxBuf[0] = 0xFF; |
yusuke_kyo | 0:10c9fb86002f | 189 | TxBuf[1] = 0xFF; |
yusuke_kyo | 0:10c9fb86002f | 190 | |
yusuke_kyo | 0:10c9fb86002f | 191 | // ID - Broadcast |
yusuke_kyo | 0:10c9fb86002f | 192 | TxBuf[2] = 0xFE; |
yusuke_kyo | 0:10c9fb86002f | 193 | sum += TxBuf[2]; |
yusuke_kyo | 0:10c9fb86002f | 194 | |
yusuke_kyo | 0:10c9fb86002f | 195 | if (MX28_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 196 | printf(" ID : %d\n",TxBuf[2]); |
yusuke_kyo | 0:10c9fb86002f | 197 | } |
yusuke_kyo | 0:10c9fb86002f | 198 | |
yusuke_kyo | 0:10c9fb86002f | 199 | // Length |
yusuke_kyo | 0:10c9fb86002f | 200 | TxBuf[3] = 0x02; |
yusuke_kyo | 0:10c9fb86002f | 201 | sum += TxBuf[3]; |
yusuke_kyo | 0:10c9fb86002f | 202 | if (MX28_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 203 | printf(" Length %d\n",TxBuf[3]); |
yusuke_kyo | 0:10c9fb86002f | 204 | } |
yusuke_kyo | 0:10c9fb86002f | 205 | |
yusuke_kyo | 0:10c9fb86002f | 206 | // Instruction - ACTION |
yusuke_kyo | 0:10c9fb86002f | 207 | TxBuf[4] = 0x04; |
yusuke_kyo | 0:10c9fb86002f | 208 | sum += TxBuf[4]; |
yusuke_kyo | 0:10c9fb86002f | 209 | if (MX28_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 210 | printf(" Instruction 0x%X\n",TxBuf[5]); |
yusuke_kyo | 0:10c9fb86002f | 211 | } |
yusuke_kyo | 0:10c9fb86002f | 212 | |
yusuke_kyo | 0:10c9fb86002f | 213 | // Checksum |
yusuke_kyo | 0:10c9fb86002f | 214 | TxBuf[5] = 0xFF - sum; |
yusuke_kyo | 0:10c9fb86002f | 215 | if (MX28_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 216 | printf(" Checksum 0x%X\n",TxBuf[5]); |
yusuke_kyo | 0:10c9fb86002f | 217 | } |
yusuke_kyo | 0:10c9fb86002f | 218 | |
yusuke_kyo | 0:10c9fb86002f | 219 | // Transmit the packet in one burst with no pausing |
yusuke_kyo | 0:10c9fb86002f | 220 | for (int i = 0; i < 6 ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 221 | _mx28.putc(TxBuf[i]); |
yusuke_kyo | 0:10c9fb86002f | 222 | } |
yusuke_kyo | 0:10c9fb86002f | 223 | |
yusuke_kyo | 0:10c9fb86002f | 224 | // This is a broadcast packet, so there will be no reply |
yusuke_kyo | 0:10c9fb86002f | 225 | |
yusuke_kyo | 0:10c9fb86002f | 226 | return; |
yusuke_kyo | 0:10c9fb86002f | 227 | } |
yusuke_kyo | 0:10c9fb86002f | 228 | |
yusuke_kyo | 0:10c9fb86002f | 229 | |
yusuke_kyo | 0:10c9fb86002f | 230 | float MX28::GetPosition(void) { |
yusuke_kyo | 0:10c9fb86002f | 231 | |
yusuke_kyo | 0:10c9fb86002f | 232 | if (MX28_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 233 | printf("\nGetPosition(%d)",_ID); |
yusuke_kyo | 0:10c9fb86002f | 234 | } |
yusuke_kyo | 0:10c9fb86002f | 235 | |
yusuke_kyo | 0:10c9fb86002f | 236 | char data[2]; |
yusuke_kyo | 0:10c9fb86002f | 237 | |
yusuke_kyo | 0:10c9fb86002f | 238 | int ErrorCode = read(_ID, MX28_REG_POSITION, 2, data); |
yusuke_kyo | 0:10c9fb86002f | 239 | short position = data[0] + (data[1] << 8); |
yusuke_kyo | 6:5ce46b6748fd | 240 | float angle = (position * 360) / 4095; |
yusuke_kyo | 0:10c9fb86002f | 241 | |
yusuke_kyo | 0:10c9fb86002f | 242 | return (angle); |
yusuke_kyo | 0:10c9fb86002f | 243 | } |
yusuke_kyo | 0:10c9fb86002f | 244 | |
yusuke_kyo | 0:10c9fb86002f | 245 | |
yusuke_kyo | 0:10c9fb86002f | 246 | float MX28::GetTemp (void) { |
yusuke_kyo | 0:10c9fb86002f | 247 | |
yusuke_kyo | 0:10c9fb86002f | 248 | if (MX28_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 249 | printf("\nGetTemp(%d)",_ID); |
yusuke_kyo | 0:10c9fb86002f | 250 | } |
yusuke_kyo | 0:10c9fb86002f | 251 | char data[1]; |
yusuke_kyo | 0:10c9fb86002f | 252 | int ErrorCode = read(_ID, MX28_REG_TEMP, 1, data); |
yusuke_kyo | 0:10c9fb86002f | 253 | float temp = data[0]; |
yusuke_kyo | 0:10c9fb86002f | 254 | return(temp); |
yusuke_kyo | 0:10c9fb86002f | 255 | } |
yusuke_kyo | 0:10c9fb86002f | 256 | |
yusuke_kyo | 0:10c9fb86002f | 257 | |
yusuke_kyo | 0:10c9fb86002f | 258 | float MX28::GetVolts (void) { |
yusuke_kyo | 0:10c9fb86002f | 259 | |
yusuke_kyo | 0:10c9fb86002f | 260 | if (MX28_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 261 | printf("\nGetVolts(%d)",_ID); |
yusuke_kyo | 0:10c9fb86002f | 262 | } |
yusuke_kyo | 0:10c9fb86002f | 263 | char data[1]; |
yusuke_kyo | 0:10c9fb86002f | 264 | int ErrorCode = read(_ID, MX28_REG_VOLTS, 1, data); |
yusuke_kyo | 0:10c9fb86002f | 265 | float volts = data[0]/10.0; |
yusuke_kyo | 0:10c9fb86002f | 266 | return(volts); |
yusuke_kyo | 0:10c9fb86002f | 267 | } |
yusuke_kyo | 0:10c9fb86002f | 268 | |
yusuke_kyo | 1:3ac0919c093f | 269 | |
yusuke_kyo | 0:10c9fb86002f | 270 | float MX28::GetCurrent (void) { |
yusuke_kyo | 0:10c9fb86002f | 271 | |
yusuke_kyo | 0:10c9fb86002f | 272 | if (MX28_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 273 | printf("\nGetCurrent(%d)",_ID); |
yusuke_kyo | 0:10c9fb86002f | 274 | } |
yusuke_kyo | 0:10c9fb86002f | 275 | char data[2]; |
yusuke_kyo | 0:10c9fb86002f | 276 | int ErrorCode = read(_ID, MX28_REG_CURRENT, 2, data); |
yusuke_kyo | 6:5ce46b6748fd | 277 | float current = ((data[0]+(data[1] << 8))-0x800)*0.0045; |
yusuke_kyo | 0:10c9fb86002f | 278 | return(current); |
yusuke_kyo | 0:10c9fb86002f | 279 | } |
yusuke_kyo | 0:10c9fb86002f | 280 | |
yusuke_kyo | 1:3ac0919c093f | 281 | |
yusuke_kyo | 1:3ac0919c093f | 282 | int MX28::TorqueEnable (int mode) { |
yusuke_kyo | 1:3ac0919c093f | 283 | |
yusuke_kyo | 1:3ac0919c093f | 284 | char data[1]; |
yusuke_kyo | 1:3ac0919c093f | 285 | data[0] = mode; |
yusuke_kyo | 1:3ac0919c093f | 286 | |
yusuke_kyo | 1:3ac0919c093f | 287 | return (write(_ID, MX28_REG_TORQUE_ENABLE, 1, data)); |
yusuke_kyo | 1:3ac0919c093f | 288 | } |
yusuke_kyo | 1:3ac0919c093f | 289 | |
yusuke_kyo | 1:3ac0919c093f | 290 | |
yusuke_kyo | 1:3ac0919c093f | 291 | int MX28::SetTorqueLimit (float torque_lim) { |
yusuke_kyo | 1:3ac0919c093f | 292 | |
yusuke_kyo | 1:3ac0919c093f | 293 | short limit = torque_lim * 1023; |
yusuke_kyo | 1:3ac0919c093f | 294 | char data[2]; |
yusuke_kyo | 1:3ac0919c093f | 295 | data[0] = limit & 0xff; // bottom 8 bits |
yusuke_kyo | 1:3ac0919c093f | 296 | data[1] = limit >> 8; // top 8 bits |
yusuke_kyo | 1:3ac0919c093f | 297 | |
yusuke_kyo | 1:3ac0919c093f | 298 | return (write(_ID, MX28_REG_TORQUE_LIMIT, 2, data)); |
yusuke_kyo | 1:3ac0919c093f | 299 | } |
yusuke_kyo | 1:3ac0919c093f | 300 | |
yusuke_kyo | 0:10c9fb86002f | 301 | int MX28::read(int ID, int start, int bytes, char* data) { |
yusuke_kyo | 0:10c9fb86002f | 302 | |
yusuke_kyo | 0:10c9fb86002f | 303 | char PacketLength = 0x4; |
yusuke_kyo | 0:10c9fb86002f | 304 | char TxBuf[16]; |
yusuke_kyo | 0:10c9fb86002f | 305 | char sum = 0; |
yusuke_kyo | 0:10c9fb86002f | 306 | char Status[16]; |
yusuke_kyo | 0:10c9fb86002f | 307 | |
yusuke_kyo | 0:10c9fb86002f | 308 | Status[4] = 0xFE; // return code |
yusuke_kyo | 0:10c9fb86002f | 309 | |
yusuke_kyo | 0:10c9fb86002f | 310 | if (MX28_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 311 | printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes); |
yusuke_kyo | 0:10c9fb86002f | 312 | } |
yusuke_kyo | 0:10c9fb86002f | 313 | |
yusuke_kyo | 0:10c9fb86002f | 314 | // Build the TxPacket first in RAM, then we'll send in one go |
yusuke_kyo | 0:10c9fb86002f | 315 | if (MX28_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 316 | printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); |
yusuke_kyo | 0:10c9fb86002f | 317 | } |
yusuke_kyo | 0:10c9fb86002f | 318 | |
yusuke_kyo | 0:10c9fb86002f | 319 | TxBuf[0] = 0xff; |
yusuke_kyo | 0:10c9fb86002f | 320 | TxBuf[1] = 0xff; |
yusuke_kyo | 0:10c9fb86002f | 321 | |
yusuke_kyo | 0:10c9fb86002f | 322 | // ID |
yusuke_kyo | 0:10c9fb86002f | 323 | TxBuf[2] = ID; |
yusuke_kyo | 0:10c9fb86002f | 324 | sum += TxBuf[2]; |
yusuke_kyo | 0:10c9fb86002f | 325 | if (MX28_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 326 | printf(" ID : %d\n",TxBuf[2]); |
yusuke_kyo | 0:10c9fb86002f | 327 | } |
yusuke_kyo | 0:10c9fb86002f | 328 | |
yusuke_kyo | 0:10c9fb86002f | 329 | // Packet Length |
yusuke_kyo | 0:10c9fb86002f | 330 | TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes) |
yusuke_kyo | 0:10c9fb86002f | 331 | sum += TxBuf[3]; // Accululate the packet sum |
yusuke_kyo | 0:10c9fb86002f | 332 | if (MX28_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 333 | printf(" Length : 0x%x\n",TxBuf[3]); |
yusuke_kyo | 0:10c9fb86002f | 334 | } |
yusuke_kyo | 0:10c9fb86002f | 335 | |
yusuke_kyo | 0:10c9fb86002f | 336 | // Instruction - Read |
yusuke_kyo | 0:10c9fb86002f | 337 | TxBuf[4] = 0x2; |
yusuke_kyo | 0:10c9fb86002f | 338 | sum += TxBuf[4]; |
yusuke_kyo | 0:10c9fb86002f | 339 | if (MX28_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 340 | printf(" Instruction : 0x%x\n",TxBuf[4]); |
yusuke_kyo | 0:10c9fb86002f | 341 | } |
yusuke_kyo | 0:10c9fb86002f | 342 | |
yusuke_kyo | 0:10c9fb86002f | 343 | // Start Address |
yusuke_kyo | 0:10c9fb86002f | 344 | TxBuf[5] = start; |
yusuke_kyo | 0:10c9fb86002f | 345 | sum += TxBuf[5]; |
yusuke_kyo | 0:10c9fb86002f | 346 | if (MX28_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 347 | printf(" Start Address : 0x%x\n",TxBuf[5]); |
yusuke_kyo | 0:10c9fb86002f | 348 | } |
yusuke_kyo | 0:10c9fb86002f | 349 | |
yusuke_kyo | 0:10c9fb86002f | 350 | // Bytes to read |
yusuke_kyo | 0:10c9fb86002f | 351 | TxBuf[6] = bytes; |
yusuke_kyo | 0:10c9fb86002f | 352 | sum += TxBuf[6]; |
yusuke_kyo | 0:10c9fb86002f | 353 | if (MX28_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 354 | printf(" No bytes : 0x%x\n",TxBuf[6]); |
yusuke_kyo | 0:10c9fb86002f | 355 | } |
yusuke_kyo | 0:10c9fb86002f | 356 | |
yusuke_kyo | 0:10c9fb86002f | 357 | // Checksum |
yusuke_kyo | 0:10c9fb86002f | 358 | TxBuf[7] = 0xFF - sum; |
yusuke_kyo | 0:10c9fb86002f | 359 | if (MX28_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 360 | printf(" Checksum : 0x%x\n",TxBuf[7]); |
yusuke_kyo | 0:10c9fb86002f | 361 | } |
yusuke_kyo | 0:10c9fb86002f | 362 | |
yusuke_kyo | 0:10c9fb86002f | 363 | // Transmit the packet in one burst with no pausing |
yusuke_kyo | 0:10c9fb86002f | 364 | for (int i = 0; i<8 ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 365 | _mx28.putc(TxBuf[i]); |
yusuke_kyo | 0:10c9fb86002f | 366 | } |
yusuke_kyo | 0:10c9fb86002f | 367 | |
yusuke_kyo | 0:10c9fb86002f | 368 | // Wait for the bytes to be transmitted |
yusuke_kyo | 0:10c9fb86002f | 369 | wait (0.00002); |
yusuke_kyo | 0:10c9fb86002f | 370 | |
yusuke_kyo | 0:10c9fb86002f | 371 | // Skip if the read was to the broadcast address |
yusuke_kyo | 0:10c9fb86002f | 372 | if (_ID != 0xFE) { |
yusuke_kyo | 0:10c9fb86002f | 373 | |
yusuke_kyo | 0:10c9fb86002f | 374 | // Receive the Status packet 6+ number of bytes read |
yusuke_kyo | 0:10c9fb86002f | 375 | for (int i=0; i<(6+bytes) ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 376 | Status[i] = _mx28.getc(); |
yusuke_kyo | 0:10c9fb86002f | 377 | } |
yusuke_kyo | 0:10c9fb86002f | 378 | |
yusuke_kyo | 0:10c9fb86002f | 379 | // Copy the data from Status into data for return |
yusuke_kyo | 0:10c9fb86002f | 380 | for (int i=0; i < Status[3]-2 ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 381 | data[i] = Status[5+i]; |
yusuke_kyo | 0:10c9fb86002f | 382 | } |
yusuke_kyo | 0:10c9fb86002f | 383 | |
yusuke_kyo | 0:10c9fb86002f | 384 | if (MX28_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 385 | printf("\nStatus Packet\n"); |
yusuke_kyo | 0:10c9fb86002f | 386 | printf(" Header : 0x%x\n",Status[0]); |
yusuke_kyo | 0:10c9fb86002f | 387 | printf(" Header : 0x%x\n",Status[1]); |
yusuke_kyo | 0:10c9fb86002f | 388 | printf(" ID : 0x%x\n",Status[2]); |
yusuke_kyo | 0:10c9fb86002f | 389 | printf(" Length : 0x%x\n",Status[3]); |
yusuke_kyo | 0:10c9fb86002f | 390 | printf(" Error Code : 0x%x\n",Status[4]); |
yusuke_kyo | 0:10c9fb86002f | 391 | |
yusuke_kyo | 0:10c9fb86002f | 392 | for (int i=0; i < Status[3]-2 ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 393 | printf(" Data : 0x%x\n",Status[5+i]); |
yusuke_kyo | 0:10c9fb86002f | 394 | } |
yusuke_kyo | 0:10c9fb86002f | 395 | |
yusuke_kyo | 0:10c9fb86002f | 396 | printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]); |
yusuke_kyo | 0:10c9fb86002f | 397 | } |
yusuke_kyo | 0:10c9fb86002f | 398 | |
yusuke_kyo | 0:10c9fb86002f | 399 | } // if (ID!=0xFE) |
yusuke_kyo | 0:10c9fb86002f | 400 | |
yusuke_kyo | 0:10c9fb86002f | 401 | return(Status[4]); |
yusuke_kyo | 0:10c9fb86002f | 402 | } |
yusuke_kyo | 0:10c9fb86002f | 403 | |
yusuke_kyo | 0:10c9fb86002f | 404 | |
yusuke_kyo | 0:10c9fb86002f | 405 | int MX28:: write(int ID, int start, int bytes, char* data, int flag) { |
yusuke_kyo | 0:10c9fb86002f | 406 | // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum |
yusuke_kyo | 0:10c9fb86002f | 407 | |
yusuke_kyo | 0:10c9fb86002f | 408 | char TxBuf[16]; |
yusuke_kyo | 0:10c9fb86002f | 409 | char sum = 0; |
yusuke_kyo | 0:10c9fb86002f | 410 | char Status[6]; |
yusuke_kyo | 0:10c9fb86002f | 411 | |
yusuke_kyo | 0:10c9fb86002f | 412 | if (MX28_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 413 | printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag); |
yusuke_kyo | 0:10c9fb86002f | 414 | } |
yusuke_kyo | 0:10c9fb86002f | 415 | |
yusuke_kyo | 0:10c9fb86002f | 416 | // Build the TxPacket first in RAM, then we'll send in one go |
yusuke_kyo | 0:10c9fb86002f | 417 | if (MX28_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 418 | printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); |
yusuke_kyo | 0:10c9fb86002f | 419 | } |
yusuke_kyo | 0:10c9fb86002f | 420 | |
yusuke_kyo | 0:10c9fb86002f | 421 | TxBuf[0] = 0xff; |
yusuke_kyo | 0:10c9fb86002f | 422 | TxBuf[1] = 0xff; |
yusuke_kyo | 0:10c9fb86002f | 423 | |
yusuke_kyo | 0:10c9fb86002f | 424 | // ID |
yusuke_kyo | 0:10c9fb86002f | 425 | TxBuf[2] = ID; |
yusuke_kyo | 0:10c9fb86002f | 426 | sum += TxBuf[2]; |
yusuke_kyo | 0:10c9fb86002f | 427 | |
yusuke_kyo | 0:10c9fb86002f | 428 | if (MX28_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 429 | printf(" ID : %d\n",TxBuf[2]); |
yusuke_kyo | 0:10c9fb86002f | 430 | } |
yusuke_kyo | 0:10c9fb86002f | 431 | |
yusuke_kyo | 0:10c9fb86002f | 432 | // packet Length |
yusuke_kyo | 0:10c9fb86002f | 433 | TxBuf[3] = 3+bytes; |
yusuke_kyo | 0:10c9fb86002f | 434 | sum += TxBuf[3]; |
yusuke_kyo | 0:10c9fb86002f | 435 | |
yusuke_kyo | 0:10c9fb86002f | 436 | if (MX28_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 437 | printf(" Length : %d\n",TxBuf[3]); |
yusuke_kyo | 0:10c9fb86002f | 438 | } |
yusuke_kyo | 0:10c9fb86002f | 439 | |
yusuke_kyo | 0:10c9fb86002f | 440 | // Instruction |
yusuke_kyo | 0:10c9fb86002f | 441 | if (flag == 1) { |
yusuke_kyo | 0:10c9fb86002f | 442 | TxBuf[4]=0x04; |
yusuke_kyo | 0:10c9fb86002f | 443 | sum += TxBuf[4]; |
yusuke_kyo | 0:10c9fb86002f | 444 | } else { |
yusuke_kyo | 0:10c9fb86002f | 445 | TxBuf[4]=0x03; |
yusuke_kyo | 0:10c9fb86002f | 446 | sum += TxBuf[4]; |
yusuke_kyo | 0:10c9fb86002f | 447 | } |
yusuke_kyo | 0:10c9fb86002f | 448 | |
yusuke_kyo | 0:10c9fb86002f | 449 | if (MX28_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 450 | printf(" Instruction : 0x%x\n",TxBuf[4]); |
yusuke_kyo | 0:10c9fb86002f | 451 | } |
yusuke_kyo | 0:10c9fb86002f | 452 | |
yusuke_kyo | 0:10c9fb86002f | 453 | // Start Address |
yusuke_kyo | 0:10c9fb86002f | 454 | TxBuf[5] = start; |
yusuke_kyo | 0:10c9fb86002f | 455 | sum += TxBuf[5]; |
yusuke_kyo | 0:10c9fb86002f | 456 | if (MX28_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 457 | printf(" Start : 0x%x\n",TxBuf[5]); |
yusuke_kyo | 0:10c9fb86002f | 458 | } |
yusuke_kyo | 0:10c9fb86002f | 459 | |
yusuke_kyo | 0:10c9fb86002f | 460 | // data |
yusuke_kyo | 0:10c9fb86002f | 461 | for (char i=0; i<bytes ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 462 | TxBuf[6+i] = data[i]; |
yusuke_kyo | 0:10c9fb86002f | 463 | sum += TxBuf[6+i]; |
yusuke_kyo | 0:10c9fb86002f | 464 | if (MX28_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 465 | printf(" Data : 0x%x\n",TxBuf[6+i]); |
yusuke_kyo | 0:10c9fb86002f | 466 | } |
yusuke_kyo | 0:10c9fb86002f | 467 | } |
yusuke_kyo | 0:10c9fb86002f | 468 | |
yusuke_kyo | 0:10c9fb86002f | 469 | // checksum |
yusuke_kyo | 0:10c9fb86002f | 470 | TxBuf[6+bytes] = 0xFF - sum; |
yusuke_kyo | 0:10c9fb86002f | 471 | if (MX28_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 472 | printf(" Checksum : 0x%x\n",TxBuf[6+bytes]); |
yusuke_kyo | 0:10c9fb86002f | 473 | } |
yusuke_kyo | 0:10c9fb86002f | 474 | |
yusuke_kyo | 0:10c9fb86002f | 475 | // Transmit the packet in one burst with no pausing |
yusuke_kyo | 0:10c9fb86002f | 476 | for (int i = 0; i < (7 + bytes) ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 477 | _mx28.putc(TxBuf[i]); |
yusuke_kyo | 0:10c9fb86002f | 478 | } |
yusuke_kyo | 0:10c9fb86002f | 479 | |
yusuke_kyo | 0:10c9fb86002f | 480 | // Wait for data to transmit |
yusuke_kyo | 0:10c9fb86002f | 481 | wait (0.00002); |
yusuke_kyo | 0:10c9fb86002f | 482 | |
yusuke_kyo | 0:10c9fb86002f | 483 | // make sure we have a valid return |
yusuke_kyo | 0:10c9fb86002f | 484 | Status[4]=0x00; |
yusuke_kyo | 0:10c9fb86002f | 485 | |
yusuke_kyo | 0:10c9fb86002f | 486 | // we'll only get a reply if it was not broadcast |
yusuke_kyo | 0:10c9fb86002f | 487 | if (_ID!=0xFE) { |
yusuke_kyo | 0:10c9fb86002f | 488 | |
yusuke_kyo | 0:10c9fb86002f | 489 | // response is always 6 bytes |
yusuke_kyo | 0:10c9fb86002f | 490 | // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum |
yusuke_kyo | 0:10c9fb86002f | 491 | for (int i=0; i < 6 ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 492 | Status[i] = _mx28.getc(); |
yusuke_kyo | 0:10c9fb86002f | 493 | } |
yusuke_kyo | 0:10c9fb86002f | 494 | |
yusuke_kyo | 0:10c9fb86002f | 495 | // Build the TxPacket first in RAM, then we'll send in one go |
yusuke_kyo | 0:10c9fb86002f | 496 | if (MX28_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 497 | printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]); |
yusuke_kyo | 0:10c9fb86002f | 498 | printf(" ID : %d\n",Status[2]); |
yusuke_kyo | 0:10c9fb86002f | 499 | printf(" Length : %d\n",Status[3]); |
yusuke_kyo | 0:10c9fb86002f | 500 | printf(" Error : 0x%x\n",Status[4]); |
yusuke_kyo | 0:10c9fb86002f | 501 | printf(" Checksum : 0x%x\n",Status[5]); |
yusuke_kyo | 0:10c9fb86002f | 502 | } |
yusuke_kyo | 0:10c9fb86002f | 503 | |
yusuke_kyo | 0:10c9fb86002f | 504 | |
yusuke_kyo | 0:10c9fb86002f | 505 | } |
yusuke_kyo | 0:10c9fb86002f | 506 | |
yusuke_kyo | 0:10c9fb86002f | 507 | return(Status[4]); // return error code |
yusuke_kyo | 0:10c9fb86002f | 508 | } |