Dyanamixel
Dependents: YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more
MX28.cpp
- Committer:
- yusuke_kyo
- Date:
- 2015-04-25
- Revision:
- 10:8ed335824731
- Parent:
- 8:4b2c48ab30fe
File content as of revision 10:8ed335824731:
/* 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. */ #include "MX28.h" #include "mbed.h" //#include "SerialHalfDuplex.h" MX28::MX28(PinName tx, PinName rx, int ID, int baudrate) : _mx28(tx,rx) { _mx28.baud(baudrate); _ID = ID; } // Set the mode of the servo // 0 = Positional (0-300 degrees) // 1 = Rotational -1 to 1 speed int MX28::SetMode(int mode) { if (mode == 1) { // set CR SetCWLimit(0); SetCCWLimit(0); SetCRSpeed(0.0); } else { SetCWLimit(0); SetCCWLimit(360); SetCRSpeed(0.0); } return(0); } // if flag[0] is set, were blocking // if flag[1] is set, we're registering // they are mutually exclusive operations int MX28::SetGoal(int degrees, int flags) { char reg_flag = 0; char data[2]; // set the flag is only the register bit is set in the flag if (flags == 0x2) { reg_flag = 1; } // 4095 / 360 * degrees short goal = (4095 * degrees) / 360; if (MX28_DEBUG) { printf("SetGoal to %d[degrees], 0x%x\n",degrees,goal); } data[0] = goal & 0xff; // bottom 8 bits data[1] = goal >> 8; // top 8 bits // write the packet, return the error code int rVal = write(_ID, MX28_REG_GOAL_POSITION, 2, data, reg_flag); if (flags == 1) { // block until it comes to a halt while (isMoving()) {} } return(rVal); } // Set continuous rotation speed from -1 to 1 int MX28::SetCRSpeed(float speed) { // bit 10 = direction, 0 = CCW, 1=CW // bits 9-0 = Speed char data[2]; int goal = (0x3ff * abs(speed)); if (MX28_DEBUG) { printf("SetCRSpeed to 0x%x\n",goal); } // Set direction CW if we have a negative speed if (speed < 0) { goal |= (0x1 << 10); } data[0] = goal & 0xff; // bottom 8 bits data[1] = goal >> 8; // top 8 bits // write the packet, return the error code int rVal = write(_ID, 0x20, 2, data); return(rVal); } int MX28::SetCWLimit (int degrees) { char data[2]; // 4095 / 360 * degrees short limit = (4095 * degrees) / 360; if (MX28_DEBUG) { printf("SetCWLimit to 0x%x\n",limit); } data[0] = limit & 0xff; // bottom 8 bits data[1] = limit >> 8; // top 8 bits // write the packet, return the error code return (write(_ID, MX28_REG_CW_LIMIT, 2, data)); } int MX28::SetCCWLimit (int degrees) { char data[2]; // 4095 / 360 * degrees short limit = (4095 * degrees) / 360; if (MX28_DEBUG) { printf("SetCCWLimit to 0x%x\n",limit); } data[0] = limit & 0xff; // bottom 8 bits data[1] = limit >> 8; // top 8 bits // write the packet, return the error code return (write(_ID, MX28_REG_CCW_LIMIT, 2, data)); } int MX28::SetID (int CurrentID, int NewID) { char data[1]; data[0] = NewID; if (MX28_DEBUG) { printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID); } return (write(CurrentID, MX28_REG_ID, 1, data)); } // return 1 is the servo is still in flight int MX28::isMoving(void) { char data[1]; read(_ID,MX28_REG_MOVING,1,data); return(data[0]); } void MX28::trigger(void) { char TxBuf[16]; char sum = 0; if (MX28_TRIGGER_DEBUG) { printf("\nTriggered\n"); } // Build the TxPacket first in RAM, then we'll send in one go if (MX28_TRIGGER_DEBUG) { printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n"); } TxBuf[0] = 0xFF; TxBuf[1] = 0xFF; // ID - Broadcast TxBuf[2] = 0xFE; sum += TxBuf[2]; if (MX28_TRIGGER_DEBUG) { printf(" ID : %d\n",TxBuf[2]); } // Length TxBuf[3] = 0x02; sum += TxBuf[3]; if (MX28_TRIGGER_DEBUG) { printf(" Length %d\n",TxBuf[3]); } // Instruction - ACTION TxBuf[4] = 0x04; sum += TxBuf[4]; if (MX28_TRIGGER_DEBUG) { printf(" Instruction 0x%X\n",TxBuf[5]); } // Checksum TxBuf[5] = 0xFF - sum; if (MX28_TRIGGER_DEBUG) { printf(" Checksum 0x%X\n",TxBuf[5]); } // Transmit the packet in one burst with no pausing for (int i = 0; i < 6 ; i++) { _mx28.putc(TxBuf[i]); } // This is a broadcast packet, so there will be no reply return; } float MX28::GetPosition(void) { if (MX28_DEBUG) { printf("\nGetPosition(%d)",_ID); } char data[2]; int ErrorCode = read(_ID, MX28_REG_POSITION, 2, data); short position = data[0] + (data[1] << 8); float angle = (position * 360) / 4095; return (angle); } float MX28::GetTemp (void) { if (MX28_DEBUG) { printf("\nGetTemp(%d)",_ID); } char data[1]; int ErrorCode = read(_ID, MX28_REG_TEMP, 1, data); float temp = data[0]; return(temp); } float MX28::GetVolts (void) { if (MX28_DEBUG) { printf("\nGetVolts(%d)",_ID); } char data[1]; int ErrorCode = read(_ID, MX28_REG_VOLTS, 1, data); float volts = data[0]/10.0; return(volts); } float MX28::GetCurrent (void) { if (MX28_DEBUG) { printf("\nGetCurrent(%d)",_ID); } char data[2]; int ErrorCode = read(_ID, MX28_REG_CURRENT, 2, data); // float current = ((data[0]+(data[1] << 8))-0x800)*0.0045; short nama = (data[0]+(data[1] << 8)); float current = nama*10; return(current); } int MX28::TorqueEnable (int mode) { char data[1]; data[0] = mode; return (write(_ID, MX28_REG_TORQUE_ENABLE, 1, data)); } int MX28::SetTorqueLimit (float torque_lim) { short limit = torque_lim * 1023; char data[2]; data[0] = limit & 0xff; // bottom 8 bits data[1] = limit >> 8; // top 8 bits return (write(_ID, MX28_REG_TORQUE_LIMIT, 2, data)); } int MX28::read(int ID, int start, int bytes, char* data) { char PacketLength = 0x4; char TxBuf[16]; char sum = 0; char Status[16]; Status[4] = 0xFE; // return code if (MX28_READ_DEBUG) { printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes); } // Build the TxPacket first in RAM, then we'll send in one go if (MX28_READ_DEBUG) { printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); } TxBuf[0] = 0xff; TxBuf[1] = 0xff; // ID TxBuf[2] = ID; sum += TxBuf[2]; if (MX28_READ_DEBUG) { printf(" ID : %d\n",TxBuf[2]); } // Packet Length TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes) sum += TxBuf[3]; // Accululate the packet sum if (MX28_READ_DEBUG) { printf(" Length : 0x%x\n",TxBuf[3]); } // Instruction - Read TxBuf[4] = 0x2; sum += TxBuf[4]; if (MX28_READ_DEBUG) { printf(" Instruction : 0x%x\n",TxBuf[4]); } // Start Address TxBuf[5] = start; sum += TxBuf[5]; if (MX28_READ_DEBUG) { printf(" Start Address : 0x%x\n",TxBuf[5]); } // Bytes to read TxBuf[6] = bytes; sum += TxBuf[6]; if (MX28_READ_DEBUG) { printf(" No bytes : 0x%x\n",TxBuf[6]); } // Checksum TxBuf[7] = 0xFF - sum; if (MX28_READ_DEBUG) { printf(" Checksum : 0x%x\n",TxBuf[7]); } // Transmit the packet in one burst with no pausing for (int i = 0; i<8 ; i++) { _mx28.putc(TxBuf[i]); } // Wait for the bytes to be transmitted wait (0.00002); // Skip if the read was to the broadcast address if (_ID != 0xFE) { // Receive the Status packet 6+ number of bytes read for (int i=0; i<(6+bytes) ; i++) { Status[i] = _mx28.getc(); } // Copy the data from Status into data for return for (int i=0; i < Status[3]-2 ; i++) { data[i] = Status[5+i]; } if (MX28_READ_DEBUG) { printf("\nStatus Packet\n"); printf(" Header : 0x%x\n",Status[0]); printf(" Header : 0x%x\n",Status[1]); printf(" ID : 0x%x\n",Status[2]); printf(" Length : 0x%x\n",Status[3]); printf(" Error Code : 0x%x\n",Status[4]); for (int i=0; i < Status[3]-2 ; i++) { printf(" Data : 0x%x\n",Status[5+i]); } printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]); } } // if (ID!=0xFE) if(Status[4]!=0) printf("\nError Code : 0x%x\n", Status[4]); return(Status[4]); } int MX28:: write(int ID, int start, int bytes, char* data, int flag) { // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum char TxBuf[16]; char sum = 0; char Status[6]; if (MX28_WRITE_DEBUG) { printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag); } // Build the TxPacket first in RAM, then we'll send in one go if (MX28_WRITE_DEBUG) { printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); } TxBuf[0] = 0xff; TxBuf[1] = 0xff; // ID TxBuf[2] = ID; sum += TxBuf[2]; if (MX28_WRITE_DEBUG) { printf(" ID : %d\n",TxBuf[2]); } // packet Length TxBuf[3] = 3+bytes; sum += TxBuf[3]; if (MX28_WRITE_DEBUG) { printf(" Length : %d\n",TxBuf[3]); } // Instruction if (flag == 1) { TxBuf[4]=0x04; sum += TxBuf[4]; } else { TxBuf[4]=0x03; sum += TxBuf[4]; } if (MX28_WRITE_DEBUG) { printf(" Instruction : 0x%x\n",TxBuf[4]); } // Start Address TxBuf[5] = start; sum += TxBuf[5]; if (MX28_WRITE_DEBUG) { printf(" Start : 0x%x\n",TxBuf[5]); } // data for (char i=0; i<bytes ; i++) { TxBuf[6+i] = data[i]; sum += TxBuf[6+i]; if (MX28_WRITE_DEBUG) { printf(" Data : 0x%x\n",TxBuf[6+i]); } } // checksum TxBuf[6+bytes] = 0xFF - sum; if (MX28_WRITE_DEBUG) { printf(" Checksum : 0x%x\n",TxBuf[6+bytes]); } // Transmit the packet in one burst with no pausing for (int i = 0; i < (7 + bytes) ; i++) { _mx28.putc(TxBuf[i]); } // Wait for data to transmit wait (0.00002); // make sure we have a valid return Status[4]=0x00; // we'll only get a reply if it was not broadcast if (_ID!=0xFE) { // response is always 6 bytes // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum for (int i=0; i < 6 ; i++) { Status[i] = _mx28.getc(); } // Build the TxPacket first in RAM, then we'll send in one go if (MX28_WRITE_DEBUG) { printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]); printf(" ID : %d\n",Status[2]); printf(" Length : %d\n",Status[3]); printf(" Error : 0x%x\n",Status[4]); printf(" Checksum : 0x%x\n",Status[5]); } } if(Status[4]!=0) printf("\nError Code : 0x%x\n", Status[4]); return(Status[4]); // return error code }