Dyanamixel
Dependents: YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more
MX28.h
- Committer:
- yusuke_kyo
- Date:
- 2015-03-31
- Revision:
- 0:10c9fb86002f
- Child:
- 1:3ac0919c093f
File content as of revision 0:10c9fb86002f:
/* 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