Dyanamixel
Dependents: YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more
AX12.cpp@3:97fc13b4168c, 2015-04-10 (annotated)
- Committer:
- yusuke_kyo
- Date:
- Fri Apr 10 03:16:21 2015 +0000
- Revision:
- 3:97fc13b4168c
- Parent:
- 1:3ac0919c093f
- Child:
- 5:950c4f4f73c6
serialhalfduplex
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 "AX12.h" |
yusuke_kyo | 0:10c9fb86002f | 25 | #include "mbed.h" |
yusuke_kyo | 0:10c9fb86002f | 26 | //#include "SerialHalfDuplex.h" |
yusuke_kyo | 0:10c9fb86002f | 27 | |
yusuke_kyo | 3:97fc13b4168c | 28 | Serial pc2(USBTX, USBRX); // tx, rx |
yusuke_kyo | 3:97fc13b4168c | 29 | |
yusuke_kyo | 0:10c9fb86002f | 30 | AX12::AX12(PinName tx, PinName rx, int ID) |
yusuke_kyo | 0:10c9fb86002f | 31 | : _ax12(tx,rx) { |
yusuke_kyo | 0:10c9fb86002f | 32 | |
yusuke_kyo | 0:10c9fb86002f | 33 | _ax12.baud(1000000); |
yusuke_kyo | 0:10c9fb86002f | 34 | _ID = ID; |
yusuke_kyo | 0:10c9fb86002f | 35 | } |
yusuke_kyo | 0:10c9fb86002f | 36 | |
yusuke_kyo | 0:10c9fb86002f | 37 | // Set the mode of the servo |
yusuke_kyo | 0:10c9fb86002f | 38 | // 0 = Positional (0-300 degrees) |
yusuke_kyo | 0:10c9fb86002f | 39 | // 1 = Rotational -1 to 1 speed |
yusuke_kyo | 0:10c9fb86002f | 40 | int AX12::SetMode(int mode) { |
yusuke_kyo | 0:10c9fb86002f | 41 | |
yusuke_kyo | 0:10c9fb86002f | 42 | if (mode == 1) { // set CR |
yusuke_kyo | 0:10c9fb86002f | 43 | SetCWLimit(0); |
yusuke_kyo | 0:10c9fb86002f | 44 | SetCCWLimit(0); |
yusuke_kyo | 0:10c9fb86002f | 45 | SetCRSpeed(0.0); |
yusuke_kyo | 0:10c9fb86002f | 46 | } else { |
yusuke_kyo | 0:10c9fb86002f | 47 | SetCWLimit(0); |
yusuke_kyo | 0:10c9fb86002f | 48 | SetCCWLimit(300); |
yusuke_kyo | 0:10c9fb86002f | 49 | SetCRSpeed(0.0); |
yusuke_kyo | 0:10c9fb86002f | 50 | } |
yusuke_kyo | 0:10c9fb86002f | 51 | return(0); |
yusuke_kyo | 0:10c9fb86002f | 52 | } |
yusuke_kyo | 0:10c9fb86002f | 53 | |
yusuke_kyo | 0:10c9fb86002f | 54 | |
yusuke_kyo | 0:10c9fb86002f | 55 | // if flag[0] is set, were blocking |
yusuke_kyo | 0:10c9fb86002f | 56 | // if flag[1] is set, we're registering |
yusuke_kyo | 0:10c9fb86002f | 57 | // they are mutually exclusive operations |
yusuke_kyo | 0:10c9fb86002f | 58 | int AX12::SetGoal(int degrees, int flags) { |
yusuke_kyo | 0:10c9fb86002f | 59 | |
yusuke_kyo | 0:10c9fb86002f | 60 | char reg_flag = 0; |
yusuke_kyo | 0:10c9fb86002f | 61 | char data[2]; |
yusuke_kyo | 0:10c9fb86002f | 62 | |
yusuke_kyo | 0:10c9fb86002f | 63 | // set the flag is only the register bit is set in the flag |
yusuke_kyo | 0:10c9fb86002f | 64 | if (flags == 0x2) { |
yusuke_kyo | 0:10c9fb86002f | 65 | reg_flag = 1; |
yusuke_kyo | 0:10c9fb86002f | 66 | } |
yusuke_kyo | 0:10c9fb86002f | 67 | |
yusuke_kyo | 0:10c9fb86002f | 68 | // 1023 / 300 * degrees |
yusuke_kyo | 0:10c9fb86002f | 69 | short goal = (1023 * degrees) / 300; |
yusuke_kyo | 0:10c9fb86002f | 70 | if (AX12_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 71 | printf("SetGoal to 0x%x\n",goal); |
yusuke_kyo | 0:10c9fb86002f | 72 | } |
yusuke_kyo | 0:10c9fb86002f | 73 | |
yusuke_kyo | 0:10c9fb86002f | 74 | data[0] = goal & 0xff; // bottom 8 bits |
yusuke_kyo | 0:10c9fb86002f | 75 | data[1] = goal >> 8; // top 8 bits |
yusuke_kyo | 0:10c9fb86002f | 76 | |
yusuke_kyo | 0:10c9fb86002f | 77 | // write the packet, return the error code |
yusuke_kyo | 0:10c9fb86002f | 78 | int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag); |
yusuke_kyo | 0:10c9fb86002f | 79 | |
yusuke_kyo | 0:10c9fb86002f | 80 | if (flags == 1) { |
yusuke_kyo | 0:10c9fb86002f | 81 | // block until it comes to a halt |
yusuke_kyo | 0:10c9fb86002f | 82 | while (isMoving()) {} |
yusuke_kyo | 0:10c9fb86002f | 83 | } |
yusuke_kyo | 0:10c9fb86002f | 84 | return(rVal); |
yusuke_kyo | 0:10c9fb86002f | 85 | } |
yusuke_kyo | 0:10c9fb86002f | 86 | |
yusuke_kyo | 0:10c9fb86002f | 87 | |
yusuke_kyo | 0:10c9fb86002f | 88 | // Set continuous rotation speed from -1 to 1 |
yusuke_kyo | 0:10c9fb86002f | 89 | int AX12::SetCRSpeed(float speed) { |
yusuke_kyo | 0:10c9fb86002f | 90 | |
yusuke_kyo | 0:10c9fb86002f | 91 | // bit 10 = direction, 0 = CCW, 1=CW |
yusuke_kyo | 0:10c9fb86002f | 92 | // bits 9-0 = Speed |
yusuke_kyo | 0:10c9fb86002f | 93 | char data[2]; |
yusuke_kyo | 0:10c9fb86002f | 94 | |
yusuke_kyo | 0:10c9fb86002f | 95 | int goal = (0x3ff * abs(speed)); |
yusuke_kyo | 0:10c9fb86002f | 96 | |
yusuke_kyo | 0:10c9fb86002f | 97 | // Set direction CW if we have a negative speed |
yusuke_kyo | 0:10c9fb86002f | 98 | if (speed < 0) { |
yusuke_kyo | 0:10c9fb86002f | 99 | goal |= (0x1 << 10); |
yusuke_kyo | 0:10c9fb86002f | 100 | } |
yusuke_kyo | 0:10c9fb86002f | 101 | |
yusuke_kyo | 0:10c9fb86002f | 102 | data[0] = goal & 0xff; // bottom 8 bits |
yusuke_kyo | 0:10c9fb86002f | 103 | data[1] = goal >> 8; // top 8 bits |
yusuke_kyo | 0:10c9fb86002f | 104 | |
yusuke_kyo | 0:10c9fb86002f | 105 | // write the packet, return the error code |
yusuke_kyo | 0:10c9fb86002f | 106 | int rVal = write(_ID, 0x20, 2, data); |
yusuke_kyo | 0:10c9fb86002f | 107 | |
yusuke_kyo | 0:10c9fb86002f | 108 | return(rVal); |
yusuke_kyo | 0:10c9fb86002f | 109 | } |
yusuke_kyo | 0:10c9fb86002f | 110 | |
yusuke_kyo | 0:10c9fb86002f | 111 | |
yusuke_kyo | 0:10c9fb86002f | 112 | int AX12::SetCWLimit (int degrees) { |
yusuke_kyo | 3:97fc13b4168c | 113 | printf("SetCWLimit to %d\n",degrees); |
yusuke_kyo | 0:10c9fb86002f | 114 | |
yusuke_kyo | 0:10c9fb86002f | 115 | char data[2]; |
yusuke_kyo | 0:10c9fb86002f | 116 | |
yusuke_kyo | 0:10c9fb86002f | 117 | // 1023 / 300 * degrees |
yusuke_kyo | 0:10c9fb86002f | 118 | short limit = (1023 * degrees) / 300; |
yusuke_kyo | 0:10c9fb86002f | 119 | |
yusuke_kyo | 0:10c9fb86002f | 120 | if (AX12_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 121 | printf("SetCWLimit to 0x%x\n",limit); |
yusuke_kyo | 0:10c9fb86002f | 122 | } |
yusuke_kyo | 0:10c9fb86002f | 123 | |
yusuke_kyo | 0:10c9fb86002f | 124 | data[0] = limit & 0xff; // bottom 8 bits |
yusuke_kyo | 0:10c9fb86002f | 125 | data[1] = limit >> 8; // top 8 bits |
yusuke_kyo | 0:10c9fb86002f | 126 | |
yusuke_kyo | 0:10c9fb86002f | 127 | // write the packet, return the error code |
yusuke_kyo | 0:10c9fb86002f | 128 | return (write(_ID, AX12_REG_CW_LIMIT, 2, data)); |
yusuke_kyo | 0:10c9fb86002f | 129 | |
yusuke_kyo | 0:10c9fb86002f | 130 | } |
yusuke_kyo | 0:10c9fb86002f | 131 | |
yusuke_kyo | 1:3ac0919c093f | 132 | |
yusuke_kyo | 0:10c9fb86002f | 133 | int AX12::SetCCWLimit (int degrees) { |
yusuke_kyo | 0:10c9fb86002f | 134 | |
yusuke_kyo | 0:10c9fb86002f | 135 | char data[2]; |
yusuke_kyo | 0:10c9fb86002f | 136 | |
yusuke_kyo | 0:10c9fb86002f | 137 | // 1023 / 300 * degrees |
yusuke_kyo | 0:10c9fb86002f | 138 | short limit = (1023 * degrees) / 300; |
yusuke_kyo | 0:10c9fb86002f | 139 | |
yusuke_kyo | 0:10c9fb86002f | 140 | if (AX12_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 141 | printf("SetCCWLimit to 0x%x\n",limit); |
yusuke_kyo | 0:10c9fb86002f | 142 | } |
yusuke_kyo | 0:10c9fb86002f | 143 | |
yusuke_kyo | 0:10c9fb86002f | 144 | data[0] = limit & 0xff; // bottom 8 bits |
yusuke_kyo | 0:10c9fb86002f | 145 | data[1] = limit >> 8; // top 8 bits |
yusuke_kyo | 0:10c9fb86002f | 146 | |
yusuke_kyo | 0:10c9fb86002f | 147 | // write the packet, return the error code |
yusuke_kyo | 0:10c9fb86002f | 148 | return (write(_ID, AX12_REG_CCW_LIMIT, 2, data)); |
yusuke_kyo | 0:10c9fb86002f | 149 | } |
yusuke_kyo | 0:10c9fb86002f | 150 | |
yusuke_kyo | 0:10c9fb86002f | 151 | |
yusuke_kyo | 0:10c9fb86002f | 152 | int AX12::SetID (int CurrentID, int NewID) { |
yusuke_kyo | 0:10c9fb86002f | 153 | |
yusuke_kyo | 0:10c9fb86002f | 154 | char data[1]; |
yusuke_kyo | 0:10c9fb86002f | 155 | data[0] = NewID; |
yusuke_kyo | 0:10c9fb86002f | 156 | if (AX12_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 157 | printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID); |
yusuke_kyo | 0:10c9fb86002f | 158 | } |
yusuke_kyo | 0:10c9fb86002f | 159 | return (write(CurrentID, AX12_REG_ID, 1, data)); |
yusuke_kyo | 0:10c9fb86002f | 160 | |
yusuke_kyo | 0:10c9fb86002f | 161 | } |
yusuke_kyo | 0:10c9fb86002f | 162 | |
yusuke_kyo | 0:10c9fb86002f | 163 | |
yusuke_kyo | 0:10c9fb86002f | 164 | // return 1 is the servo is still in flight |
yusuke_kyo | 0:10c9fb86002f | 165 | int AX12::isMoving(void) { |
yusuke_kyo | 0:10c9fb86002f | 166 | |
yusuke_kyo | 0:10c9fb86002f | 167 | char data[1]; |
yusuke_kyo | 0:10c9fb86002f | 168 | read(_ID,AX12_REG_MOVING,1,data); |
yusuke_kyo | 0:10c9fb86002f | 169 | return(data[0]); |
yusuke_kyo | 0:10c9fb86002f | 170 | } |
yusuke_kyo | 0:10c9fb86002f | 171 | |
yusuke_kyo | 0:10c9fb86002f | 172 | |
yusuke_kyo | 0:10c9fb86002f | 173 | void AX12::trigger(void) { |
yusuke_kyo | 0:10c9fb86002f | 174 | |
yusuke_kyo | 0:10c9fb86002f | 175 | char TxBuf[16]; |
yusuke_kyo | 0:10c9fb86002f | 176 | char sum = 0; |
yusuke_kyo | 0:10c9fb86002f | 177 | |
yusuke_kyo | 0:10c9fb86002f | 178 | if (AX12_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 179 | printf("\nTriggered\n"); |
yusuke_kyo | 0:10c9fb86002f | 180 | } |
yusuke_kyo | 0:10c9fb86002f | 181 | |
yusuke_kyo | 0:10c9fb86002f | 182 | // Build the TxPacket first in RAM, then we'll send in one go |
yusuke_kyo | 0:10c9fb86002f | 183 | if (AX12_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 184 | printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n"); |
yusuke_kyo | 0:10c9fb86002f | 185 | } |
yusuke_kyo | 0:10c9fb86002f | 186 | |
yusuke_kyo | 0:10c9fb86002f | 187 | TxBuf[0] = 0xFF; |
yusuke_kyo | 0:10c9fb86002f | 188 | TxBuf[1] = 0xFF; |
yusuke_kyo | 0:10c9fb86002f | 189 | |
yusuke_kyo | 0:10c9fb86002f | 190 | // ID - Broadcast |
yusuke_kyo | 0:10c9fb86002f | 191 | TxBuf[2] = 0xFE; |
yusuke_kyo | 0:10c9fb86002f | 192 | sum += TxBuf[2]; |
yusuke_kyo | 0:10c9fb86002f | 193 | |
yusuke_kyo | 0:10c9fb86002f | 194 | if (AX12_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 195 | printf(" ID : %d\n",TxBuf[2]); |
yusuke_kyo | 0:10c9fb86002f | 196 | } |
yusuke_kyo | 0:10c9fb86002f | 197 | |
yusuke_kyo | 0:10c9fb86002f | 198 | // Length |
yusuke_kyo | 0:10c9fb86002f | 199 | TxBuf[3] = 0x02; |
yusuke_kyo | 0:10c9fb86002f | 200 | sum += TxBuf[3]; |
yusuke_kyo | 0:10c9fb86002f | 201 | if (AX12_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 202 | printf(" Length %d\n",TxBuf[3]); |
yusuke_kyo | 0:10c9fb86002f | 203 | } |
yusuke_kyo | 0:10c9fb86002f | 204 | |
yusuke_kyo | 0:10c9fb86002f | 205 | // Instruction - ACTION |
yusuke_kyo | 0:10c9fb86002f | 206 | TxBuf[4] = 0x04; |
yusuke_kyo | 0:10c9fb86002f | 207 | sum += TxBuf[4]; |
yusuke_kyo | 0:10c9fb86002f | 208 | if (AX12_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 209 | printf(" Instruction 0x%X\n",TxBuf[5]); |
yusuke_kyo | 0:10c9fb86002f | 210 | } |
yusuke_kyo | 0:10c9fb86002f | 211 | |
yusuke_kyo | 0:10c9fb86002f | 212 | // Checksum |
yusuke_kyo | 0:10c9fb86002f | 213 | TxBuf[5] = 0xFF - sum; |
yusuke_kyo | 0:10c9fb86002f | 214 | if (AX12_TRIGGER_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 215 | printf(" Checksum 0x%X\n",TxBuf[5]); |
yusuke_kyo | 0:10c9fb86002f | 216 | } |
yusuke_kyo | 0:10c9fb86002f | 217 | |
yusuke_kyo | 0:10c9fb86002f | 218 | // Transmit the packet in one burst with no pausing |
yusuke_kyo | 0:10c9fb86002f | 219 | for (int i = 0; i < 6 ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 220 | _ax12.putc(TxBuf[i]); |
yusuke_kyo | 0:10c9fb86002f | 221 | } |
yusuke_kyo | 0:10c9fb86002f | 222 | |
yusuke_kyo | 0:10c9fb86002f | 223 | // This is a broadcast packet, so there will be no reply |
yusuke_kyo | 0:10c9fb86002f | 224 | |
yusuke_kyo | 0:10c9fb86002f | 225 | return; |
yusuke_kyo | 0:10c9fb86002f | 226 | } |
yusuke_kyo | 0:10c9fb86002f | 227 | |
yusuke_kyo | 0:10c9fb86002f | 228 | |
yusuke_kyo | 0:10c9fb86002f | 229 | float AX12::GetPosition(void) { |
yusuke_kyo | 3:97fc13b4168c | 230 | pc2.printf("\nGetPosition(ID%d)",_ID); |
yusuke_kyo | 0:10c9fb86002f | 231 | |
yusuke_kyo | 0:10c9fb86002f | 232 | if (AX12_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, AX12_REG_POSITION, 2, data); |
yusuke_kyo | 3:97fc13b4168c | 239 | pc2.printf("\n1"); |
yusuke_kyo | 0:10c9fb86002f | 240 | short position = data[0] + (data[1] << 8); |
yusuke_kyo | 3:97fc13b4168c | 241 | pc2.printf("\n2"); |
yusuke_kyo | 0:10c9fb86002f | 242 | float angle = (position * 300)/1024; |
yusuke_kyo | 3:97fc13b4168c | 243 | pc2.printf("\n3"); |
yusuke_kyo | 3:97fc13b4168c | 244 | |
yusuke_kyo | 3:97fc13b4168c | 245 | pc2.printf("\nGetPosition(angle%f)\n",angle); |
yusuke_kyo | 0:10c9fb86002f | 246 | return (angle); |
yusuke_kyo | 0:10c9fb86002f | 247 | } |
yusuke_kyo | 0:10c9fb86002f | 248 | |
yusuke_kyo | 0:10c9fb86002f | 249 | |
yusuke_kyo | 0:10c9fb86002f | 250 | float AX12::GetTemp (void) { |
yusuke_kyo | 0:10c9fb86002f | 251 | |
yusuke_kyo | 0:10c9fb86002f | 252 | if (AX12_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 253 | printf("\nGetTemp(%d)",_ID); |
yusuke_kyo | 0:10c9fb86002f | 254 | } |
yusuke_kyo | 0:10c9fb86002f | 255 | char data[1]; |
yusuke_kyo | 0:10c9fb86002f | 256 | int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data); |
yusuke_kyo | 0:10c9fb86002f | 257 | float temp = data[0]; |
yusuke_kyo | 0:10c9fb86002f | 258 | return(temp); |
yusuke_kyo | 0:10c9fb86002f | 259 | } |
yusuke_kyo | 0:10c9fb86002f | 260 | |
yusuke_kyo | 0:10c9fb86002f | 261 | |
yusuke_kyo | 0:10c9fb86002f | 262 | float AX12::GetVolts (void) { |
yusuke_kyo | 0:10c9fb86002f | 263 | if (AX12_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 264 | printf("\nGetVolts(%d)",_ID); |
yusuke_kyo | 0:10c9fb86002f | 265 | } |
yusuke_kyo | 0:10c9fb86002f | 266 | char data[1]; |
yusuke_kyo | 0:10c9fb86002f | 267 | int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data); |
yusuke_kyo | 0:10c9fb86002f | 268 | float volts = data[0]/10.0; |
yusuke_kyo | 0:10c9fb86002f | 269 | return(volts); |
yusuke_kyo | 0:10c9fb86002f | 270 | } |
yusuke_kyo | 0:10c9fb86002f | 271 | |
yusuke_kyo | 1:3ac0919c093f | 272 | |
yusuke_kyo | 1:3ac0919c093f | 273 | int AX12::TorqueEnable (int mode) { |
yusuke_kyo | 0:10c9fb86002f | 274 | |
yusuke_kyo | 0:10c9fb86002f | 275 | char data[1]; |
yusuke_kyo | 0:10c9fb86002f | 276 | data[0] = mode; |
yusuke_kyo | 0:10c9fb86002f | 277 | |
yusuke_kyo | 0:10c9fb86002f | 278 | return (write(_ID, AX12_REG_TORQUE_ENABLE, 1, data)); |
yusuke_kyo | 0:10c9fb86002f | 279 | } |
yusuke_kyo | 0:10c9fb86002f | 280 | |
yusuke_kyo | 1:3ac0919c093f | 281 | |
yusuke_kyo | 1:3ac0919c093f | 282 | int AX12::SetTorqueLimit (float torque_lim) { |
yusuke_kyo | 1:3ac0919c093f | 283 | |
yusuke_kyo | 1:3ac0919c093f | 284 | short limit = torque_lim * 1023; |
yusuke_kyo | 1:3ac0919c093f | 285 | char data[2]; |
yusuke_kyo | 1:3ac0919c093f | 286 | data[0] = limit & 0xff; // bottom 8 bits |
yusuke_kyo | 1:3ac0919c093f | 287 | data[1] = limit >> 8; // top 8 bits |
yusuke_kyo | 1:3ac0919c093f | 288 | |
yusuke_kyo | 1:3ac0919c093f | 289 | return (write(_ID, AX12_REG_TORQUE_LIMIT, 2, data)); |
yusuke_kyo | 1:3ac0919c093f | 290 | } |
yusuke_kyo | 1:3ac0919c093f | 291 | |
yusuke_kyo | 1:3ac0919c093f | 292 | |
yusuke_kyo | 0:10c9fb86002f | 293 | int AX12::read(int ID, int start, int bytes, char* data) { |
yusuke_kyo | 0:10c9fb86002f | 294 | |
yusuke_kyo | 0:10c9fb86002f | 295 | char PacketLength = 0x4; |
yusuke_kyo | 0:10c9fb86002f | 296 | char TxBuf[16]; |
yusuke_kyo | 0:10c9fb86002f | 297 | char sum = 0; |
yusuke_kyo | 0:10c9fb86002f | 298 | char Status[16]; |
yusuke_kyo | 0:10c9fb86002f | 299 | |
yusuke_kyo | 0:10c9fb86002f | 300 | Status[4] = 0xFE; // return code |
yusuke_kyo | 0:10c9fb86002f | 301 | |
yusuke_kyo | 0:10c9fb86002f | 302 | if (AX12_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 303 | printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes); |
yusuke_kyo | 0:10c9fb86002f | 304 | } |
yusuke_kyo | 0:10c9fb86002f | 305 | |
yusuke_kyo | 0:10c9fb86002f | 306 | // Build the TxPacket first in RAM, then we'll send in one go |
yusuke_kyo | 0:10c9fb86002f | 307 | if (AX12_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 308 | printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); |
yusuke_kyo | 0:10c9fb86002f | 309 | } |
yusuke_kyo | 0:10c9fb86002f | 310 | |
yusuke_kyo | 0:10c9fb86002f | 311 | TxBuf[0] = 0xff; |
yusuke_kyo | 0:10c9fb86002f | 312 | TxBuf[1] = 0xff; |
yusuke_kyo | 0:10c9fb86002f | 313 | |
yusuke_kyo | 0:10c9fb86002f | 314 | // ID |
yusuke_kyo | 0:10c9fb86002f | 315 | TxBuf[2] = ID; |
yusuke_kyo | 0:10c9fb86002f | 316 | sum += TxBuf[2]; |
yusuke_kyo | 0:10c9fb86002f | 317 | if (AX12_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 318 | printf(" ID : %d\n",TxBuf[2]); |
yusuke_kyo | 0:10c9fb86002f | 319 | } |
yusuke_kyo | 0:10c9fb86002f | 320 | |
yusuke_kyo | 0:10c9fb86002f | 321 | // Packet Length |
yusuke_kyo | 0:10c9fb86002f | 322 | TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes) |
yusuke_kyo | 0:10c9fb86002f | 323 | sum += TxBuf[3]; // Accululate the packet sum |
yusuke_kyo | 0:10c9fb86002f | 324 | if (AX12_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 325 | printf(" Length : 0x%x\n",TxBuf[3]); |
yusuke_kyo | 0:10c9fb86002f | 326 | } |
yusuke_kyo | 0:10c9fb86002f | 327 | |
yusuke_kyo | 0:10c9fb86002f | 328 | // Instruction - Read |
yusuke_kyo | 0:10c9fb86002f | 329 | TxBuf[4] = 0x2; |
yusuke_kyo | 0:10c9fb86002f | 330 | sum += TxBuf[4]; |
yusuke_kyo | 0:10c9fb86002f | 331 | if (AX12_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 332 | printf(" Instruction : 0x%x\n",TxBuf[4]); |
yusuke_kyo | 0:10c9fb86002f | 333 | } |
yusuke_kyo | 0:10c9fb86002f | 334 | |
yusuke_kyo | 0:10c9fb86002f | 335 | // Start Address |
yusuke_kyo | 0:10c9fb86002f | 336 | TxBuf[5] = start; |
yusuke_kyo | 0:10c9fb86002f | 337 | sum += TxBuf[5]; |
yusuke_kyo | 0:10c9fb86002f | 338 | if (AX12_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 339 | printf(" Start Address : 0x%x\n",TxBuf[5]); |
yusuke_kyo | 0:10c9fb86002f | 340 | } |
yusuke_kyo | 0:10c9fb86002f | 341 | |
yusuke_kyo | 0:10c9fb86002f | 342 | // Bytes to read |
yusuke_kyo | 0:10c9fb86002f | 343 | TxBuf[6] = bytes; |
yusuke_kyo | 0:10c9fb86002f | 344 | sum += TxBuf[6]; |
yusuke_kyo | 0:10c9fb86002f | 345 | if (AX12_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 346 | printf(" No bytes : 0x%x\n",TxBuf[6]); |
yusuke_kyo | 0:10c9fb86002f | 347 | } |
yusuke_kyo | 0:10c9fb86002f | 348 | |
yusuke_kyo | 0:10c9fb86002f | 349 | // Checksum |
yusuke_kyo | 0:10c9fb86002f | 350 | TxBuf[7] = 0xFF - sum; |
yusuke_kyo | 0:10c9fb86002f | 351 | if (AX12_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 352 | printf(" Checksum : 0x%x\n",TxBuf[7]); |
yusuke_kyo | 0:10c9fb86002f | 353 | } |
yusuke_kyo | 0:10c9fb86002f | 354 | |
yusuke_kyo | 0:10c9fb86002f | 355 | // Transmit the packet in one burst with no pausing |
yusuke_kyo | 3:97fc13b4168c | 356 | pc2.printf("read:transmit the packet"); |
yusuke_kyo | 0:10c9fb86002f | 357 | for (int i = 0; i<8 ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 358 | _ax12.putc(TxBuf[i]); |
yusuke_kyo | 0:10c9fb86002f | 359 | } |
yusuke_kyo | 3:97fc13b4168c | 360 | pc2.printf("read:transmit the packet : end"); |
yusuke_kyo | 0:10c9fb86002f | 361 | |
yusuke_kyo | 0:10c9fb86002f | 362 | // Wait for the bytes to be transmitted |
yusuke_kyo | 0:10c9fb86002f | 363 | wait (0.00002); |
yusuke_kyo | 0:10c9fb86002f | 364 | |
yusuke_kyo | 0:10c9fb86002f | 365 | // Skip if the read was to the broadcast address |
yusuke_kyo | 0:10c9fb86002f | 366 | if (_ID != 0xFE) { |
yusuke_kyo | 0:10c9fb86002f | 367 | |
yusuke_kyo | 0:10c9fb86002f | 368 | // Receive the Status packet 6+ number of bytes read |
yusuke_kyo | 0:10c9fb86002f | 369 | for (int i=0; i<(6+bytes) ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 370 | Status[i] = _ax12.getc(); |
yusuke_kyo | 0:10c9fb86002f | 371 | } |
yusuke_kyo | 0:10c9fb86002f | 372 | |
yusuke_kyo | 0:10c9fb86002f | 373 | // Copy the data from Status into data for return |
yusuke_kyo | 0:10c9fb86002f | 374 | for (int i=0; i < Status[3]-2 ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 375 | data[i] = Status[5+i]; |
yusuke_kyo | 0:10c9fb86002f | 376 | } |
yusuke_kyo | 0:10c9fb86002f | 377 | |
yusuke_kyo | 0:10c9fb86002f | 378 | if (AX12_READ_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 379 | printf("\nStatus Packet\n"); |
yusuke_kyo | 0:10c9fb86002f | 380 | printf(" Header : 0x%x\n",Status[0]); |
yusuke_kyo | 0:10c9fb86002f | 381 | printf(" Header : 0x%x\n",Status[1]); |
yusuke_kyo | 0:10c9fb86002f | 382 | printf(" ID : 0x%x\n",Status[2]); |
yusuke_kyo | 0:10c9fb86002f | 383 | printf(" Length : 0x%x\n",Status[3]); |
yusuke_kyo | 3:97fc13b4168c | 384 | pc2.printf(" Error Code : 0x%x\n",Status[4]); |
yusuke_kyo | 0:10c9fb86002f | 385 | |
yusuke_kyo | 0:10c9fb86002f | 386 | for (int i=0; i < Status[3]-2 ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 387 | printf(" Data : 0x%x\n",Status[5+i]); |
yusuke_kyo | 0:10c9fb86002f | 388 | } |
yusuke_kyo | 0:10c9fb86002f | 389 | |
yusuke_kyo | 0:10c9fb86002f | 390 | printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]); |
yusuke_kyo | 0:10c9fb86002f | 391 | } |
yusuke_kyo | 0:10c9fb86002f | 392 | |
yusuke_kyo | 0:10c9fb86002f | 393 | } // if (ID!=0xFE) |
yusuke_kyo | 0:10c9fb86002f | 394 | |
yusuke_kyo | 0:10c9fb86002f | 395 | return(Status[4]); |
yusuke_kyo | 0:10c9fb86002f | 396 | } |
yusuke_kyo | 0:10c9fb86002f | 397 | |
yusuke_kyo | 0:10c9fb86002f | 398 | |
yusuke_kyo | 0:10c9fb86002f | 399 | int AX12:: write(int ID, int start, int bytes, char* data, int flag) { |
yusuke_kyo | 0:10c9fb86002f | 400 | // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum |
yusuke_kyo | 0:10c9fb86002f | 401 | |
yusuke_kyo | 0:10c9fb86002f | 402 | char TxBuf[16]; |
yusuke_kyo | 0:10c9fb86002f | 403 | char sum = 0; |
yusuke_kyo | 0:10c9fb86002f | 404 | char Status[6]; |
yusuke_kyo | 0:10c9fb86002f | 405 | |
yusuke_kyo | 0:10c9fb86002f | 406 | if (AX12_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 407 | printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag); |
yusuke_kyo | 0:10c9fb86002f | 408 | } |
yusuke_kyo | 0:10c9fb86002f | 409 | |
yusuke_kyo | 0:10c9fb86002f | 410 | // Build the TxPacket first in RAM, then we'll send in one go |
yusuke_kyo | 0:10c9fb86002f | 411 | if (AX12_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 412 | printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n"); |
yusuke_kyo | 0:10c9fb86002f | 413 | } |
yusuke_kyo | 0:10c9fb86002f | 414 | |
yusuke_kyo | 0:10c9fb86002f | 415 | TxBuf[0] = 0xff; |
yusuke_kyo | 0:10c9fb86002f | 416 | TxBuf[1] = 0xff; |
yusuke_kyo | 0:10c9fb86002f | 417 | |
yusuke_kyo | 0:10c9fb86002f | 418 | // ID |
yusuke_kyo | 0:10c9fb86002f | 419 | TxBuf[2] = ID; |
yusuke_kyo | 0:10c9fb86002f | 420 | sum += TxBuf[2]; |
yusuke_kyo | 0:10c9fb86002f | 421 | |
yusuke_kyo | 0:10c9fb86002f | 422 | if (AX12_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 423 | printf(" ID : %d\n",TxBuf[2]); |
yusuke_kyo | 0:10c9fb86002f | 424 | } |
yusuke_kyo | 0:10c9fb86002f | 425 | |
yusuke_kyo | 0:10c9fb86002f | 426 | // packet Length |
yusuke_kyo | 0:10c9fb86002f | 427 | TxBuf[3] = 3+bytes; |
yusuke_kyo | 0:10c9fb86002f | 428 | sum += TxBuf[3]; |
yusuke_kyo | 0:10c9fb86002f | 429 | |
yusuke_kyo | 0:10c9fb86002f | 430 | if (AX12_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 431 | printf(" Length : %d\n",TxBuf[3]); |
yusuke_kyo | 0:10c9fb86002f | 432 | } |
yusuke_kyo | 0:10c9fb86002f | 433 | |
yusuke_kyo | 0:10c9fb86002f | 434 | // Instruction |
yusuke_kyo | 0:10c9fb86002f | 435 | if (flag == 1) { |
yusuke_kyo | 0:10c9fb86002f | 436 | TxBuf[4]=0x04; |
yusuke_kyo | 0:10c9fb86002f | 437 | sum += TxBuf[4]; |
yusuke_kyo | 0:10c9fb86002f | 438 | } else { |
yusuke_kyo | 0:10c9fb86002f | 439 | TxBuf[4]=0x03; |
yusuke_kyo | 0:10c9fb86002f | 440 | sum += TxBuf[4]; |
yusuke_kyo | 0:10c9fb86002f | 441 | } |
yusuke_kyo | 0:10c9fb86002f | 442 | |
yusuke_kyo | 0:10c9fb86002f | 443 | if (AX12_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 444 | printf(" Instruction : 0x%x\n",TxBuf[4]); |
yusuke_kyo | 0:10c9fb86002f | 445 | } |
yusuke_kyo | 0:10c9fb86002f | 446 | |
yusuke_kyo | 0:10c9fb86002f | 447 | // Start Address |
yusuke_kyo | 0:10c9fb86002f | 448 | TxBuf[5] = start; |
yusuke_kyo | 0:10c9fb86002f | 449 | sum += TxBuf[5]; |
yusuke_kyo | 0:10c9fb86002f | 450 | if (AX12_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 451 | printf(" Start : 0x%x\n",TxBuf[5]); |
yusuke_kyo | 0:10c9fb86002f | 452 | } |
yusuke_kyo | 0:10c9fb86002f | 453 | |
yusuke_kyo | 0:10c9fb86002f | 454 | // data |
yusuke_kyo | 0:10c9fb86002f | 455 | for (char i=0; i<bytes ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 456 | TxBuf[6+i] = data[i]; |
yusuke_kyo | 0:10c9fb86002f | 457 | sum += TxBuf[6+i]; |
yusuke_kyo | 0:10c9fb86002f | 458 | if (AX12_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 459 | printf(" Data : 0x%x\n",TxBuf[6+i]); |
yusuke_kyo | 0:10c9fb86002f | 460 | } |
yusuke_kyo | 0:10c9fb86002f | 461 | } |
yusuke_kyo | 0:10c9fb86002f | 462 | |
yusuke_kyo | 0:10c9fb86002f | 463 | // checksum |
yusuke_kyo | 0:10c9fb86002f | 464 | TxBuf[6+bytes] = 0xFF - sum; |
yusuke_kyo | 0:10c9fb86002f | 465 | if (AX12_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 466 | printf(" Checksum : 0x%x\n",TxBuf[6+bytes]); |
yusuke_kyo | 0:10c9fb86002f | 467 | } |
yusuke_kyo | 0:10c9fb86002f | 468 | |
yusuke_kyo | 0:10c9fb86002f | 469 | // Transmit the packet in one burst with no pausing |
yusuke_kyo | 3:97fc13b4168c | 470 | pc2.printf("transmit the packet\n"); |
yusuke_kyo | 0:10c9fb86002f | 471 | for (int i = 0; i < (7 + bytes) ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 472 | _ax12.putc(TxBuf[i]); |
yusuke_kyo | 0:10c9fb86002f | 473 | } |
yusuke_kyo | 0:10c9fb86002f | 474 | |
yusuke_kyo | 0:10c9fb86002f | 475 | // Wait for data to transmit |
yusuke_kyo | 0:10c9fb86002f | 476 | wait (0.00002); |
yusuke_kyo | 0:10c9fb86002f | 477 | |
yusuke_kyo | 0:10c9fb86002f | 478 | // make sure we have a valid return |
yusuke_kyo | 0:10c9fb86002f | 479 | Status[4]=0x00; |
yusuke_kyo | 0:10c9fb86002f | 480 | |
yusuke_kyo | 0:10c9fb86002f | 481 | // we'll only get a reply if it was not broadcast |
yusuke_kyo | 0:10c9fb86002f | 482 | if (_ID!=0xFE) { |
yusuke_kyo | 0:10c9fb86002f | 483 | |
yusuke_kyo | 0:10c9fb86002f | 484 | // response is always 6 bytes |
yusuke_kyo | 0:10c9fb86002f | 485 | // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum |
yusuke_kyo | 0:10c9fb86002f | 486 | for (int i=0; i < 6 ; i++) { |
yusuke_kyo | 0:10c9fb86002f | 487 | Status[i] = _ax12.getc(); |
yusuke_kyo | 0:10c9fb86002f | 488 | } |
yusuke_kyo | 0:10c9fb86002f | 489 | |
yusuke_kyo | 0:10c9fb86002f | 490 | // Build the TxPacket first in RAM, then we'll send in one go |
yusuke_kyo | 0:10c9fb86002f | 491 | if (AX12_WRITE_DEBUG) { |
yusuke_kyo | 0:10c9fb86002f | 492 | printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]); |
yusuke_kyo | 0:10c9fb86002f | 493 | printf(" ID : %d\n",Status[2]); |
yusuke_kyo | 0:10c9fb86002f | 494 | printf(" Length : %d\n",Status[3]); |
yusuke_kyo | 0:10c9fb86002f | 495 | printf(" Error : 0x%x\n",Status[4]); |
yusuke_kyo | 0:10c9fb86002f | 496 | printf(" Checksum : 0x%x\n",Status[5]); |
yusuke_kyo | 0:10c9fb86002f | 497 | } |
yusuke_kyo | 0:10c9fb86002f | 498 | |
yusuke_kyo | 0:10c9fb86002f | 499 | |
yusuke_kyo | 0:10c9fb86002f | 500 | } |
yusuke_kyo | 0:10c9fb86002f | 501 | |
yusuke_kyo | 0:10c9fb86002f | 502 | return(Status[4]); // return error code |
yusuke_kyo | 0:10c9fb86002f | 503 | } |