Dyanamixel
Dependents: YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more
Diff: MX28.h
- Revision:
- 1:3ac0919c093f
- Parent:
- 0:10c9fb86002f
- Child:
- 2:08072af3e9da
diff -r 10c9fb86002f -r 3ac0919c093f MX28.h --- a/MX28.h Tue Mar 31 09:45:27 2015 +0000 +++ b/MX28.h Wed Apr 08 08:03:42 2015 +0000 @@ -25,7 +25,7 @@ #define MBED_MX28_H #include "mbed.h" -#include "SerialHalfDuplex.h" +//#include "SerialHalfDuplex.h" #define MX28_WRITE_DEBUG 0 #define MX28_READ_DEBUG 0 @@ -35,12 +35,14 @@ #define MX28_REG_ID 0x3 #define MX28_REG_CW_LIMIT 0x06 #define MX28_REG_CCW_LIMIT 0x08 +#define MX28_REG_TORQUE_ENABLE 0x18 #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_TORQUE_LIMIT 0x22 #define MX28_REG_CURRENT 0x44 #define MX28_MODE_POSITION 0 @@ -49,15 +51,16 @@ #define MX28_CW 1 #define MX28_CCW 0 -class MX28 { +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 + * @param pin rx pin + * @param int ID, the Bus ID of the servo 1-255 */ MX28(PinName tx, PinName rx, int ID); @@ -72,7 +75,7 @@ * * @param degrees 0-360 * @param flags, defaults to 0 - * flags[0] = blocking, return when goal position reached + * flags[0] = blocking, return when goal position reached * flags[1] = register, activate with a broadcast trigger * */ @@ -93,7 +96,7 @@ * @param degrees, 0-360 */ int SetCWLimit(int degrees); - + /** Set the counter-clockwise limit of the servo * * @param degrees, 0-360 @@ -131,7 +134,7 @@ /** Read the temperature of the servo * - * @returns float temperature + * @returns float temperature */ float GetTemp(void); @@ -140,16 +143,21 @@ * @returns float voltage */ float GetVolts(void); - + /** Read the supply current of the servo * * @returns float current */ float GetCurrent(void); + int TorqueEnable(int mode); + + int SetTorqueLimit(float torque_limit); + private : - SerialHalfDuplex _mx28; +// SerialHalfDuplex _mx28; + Serial _mx28; int _ID; int read(int ID, int start, int length, char* data);