Diff: MX28.h

Revision:

0:10c9fb86002f

Child:

1:3ac0919c093f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MX28.h	Tue Mar 31 09:45:27 2015 +0000
@@ -0,0 +1,160 @@
+/* mbed AX-12+ Servo Library
+ *
+ * Copyright (c) 2010, cstyles (http://mbed.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_MX28_H
+#define MBED_MX28_H
+
+#include "mbed.h"
+#include "SerialHalfDuplex.h"
+
+#define MX28_WRITE_DEBUG 0
+#define MX28_READ_DEBUG 0
+#define MX28_TRIGGER_DEBUG 0
+#define MX28_DEBUG 0
+
+#define MX28_REG_ID 0x3
+#define MX28_REG_CW_LIMIT 0x06
+#define MX28_REG_CCW_LIMIT 0x08
+#define MX28_REG_GOAL_POSITION 0x1E
+#define MX28_REG_MOVING_SPEED 0x20
+#define MX28_REG_VOLTS 0x2A
+#define MX28_REG_TEMP 0x2B
+#define MX28_REG_MOVING 0x2E
+#define MX28_REG_POSITION 0x24
+#define MX28_REG_CURRENT 0x44
+
+#define MX28_MODE_POSITION  0
+#define MX28_MODE_ROTATION  1
+
+#define MX28_CW 1
+#define MX28_CCW 0
+
+class MX28 {
+
+public:
+
+    /** Create an MX28 servo object connected to the specified serial port, with the specified ID
+     *
+     * @param pin tx pin
+     * @param pin rx pin 
+     * @param int ID, the Bus ID of the servo 1-255 
+     */
+    MX28(PinName tx, PinName rx, int ID);
+
+    /** Set the mode of the servo
+     * @param mode
+     *    0 = Positional, default
+     *    1 = Continuous rotation
+     */
+    int SetMode(int mode);
+
+    /** Set goal angle in integer degrees, in positional mode
+     *
+     * @param degrees 0-360
+     * @param flags, defaults to 0
+     *    flags[0] = blocking, return when goal position reached 
+     *    flags[1] = register, activate with a broadcast trigger
+     *
+     */
+    int SetGoal(int degrees, int flags = 0);
+
+
+    /** Set the speed of the servo in continuous rotation mode
+     *
+     * @param speed, -1.0 to 1.0
+     *   -1.0 = full speed counter clock wise
+     *    1.0 = full speed clock wise
+     */
+    int SetCRSpeed(float speed);
+
+
+    /** Set the clockwise limit of the servo
+     *
+     * @param degrees, 0-360
+     */
+    int SetCWLimit(int degrees);
+    
+    /** Set the counter-clockwise limit of the servo
+     *
+     * @param degrees, 0-360
+     */
+    int SetCCWLimit(int degrees);
+
+    // Change the ID
+
+    /** Change the ID of a servo
+     *
+     * @param CurentID 1-255
+     * @param NewID 1-255
+     *
+     * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
+     * In this situation, only one servo should be connected to the bus
+     */
+    int SetID(int CurrentID, int NewID);
+
+
+    /** Poll to see if the servo is moving
+     *
+     * @returns true is the servo is moving
+     */
+    int isMoving(void);
+
+    /** Send the broadcast "trigger" command, to activate any outstanding registered commands
+     */
+    void trigger(void);
+
+    /** Read the current angle of the servo
+     *
+     * @returns float in the range 0.0-360.0
+     */
+    float GetPosition();
+
+    /** Read the temperature of the servo
+     *
+     * @returns float temperature 
+     */
+    float GetTemp(void);
+
+    /** Read the supply voltage of the servo
+     *
+     * @returns float voltage
+     */
+    float GetVolts(void);
+    
+    /** Read the supply current of the servo
+     *
+     * @returns float current
+     */
+    float GetCurrent(void);
+
+private :
+
+    SerialHalfDuplex _mx28;
+    int _ID;
+
+    int read(int ID, int start, int length, char* data);
+    int write(int ID, int start, int length, char* data, int flag=0);
+
+};
+
+#endif