MX28.h

00001 /* mbed AX-12+ Servo Library
00002  *
00003  * Copyright (c) 2010, cstyles (http://mbed.org)
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy
00006  * of this software and associated documentation files (the "Software"), to deal
00007  * in the Software without restriction, including without limitation the rights
00008  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009  * copies of the Software, and to permit persons to whom the Software is
00010  * furnished to do so, subject to the following conditions:
00011  *
00012  * The above copyright notice and this permission notice shall be included in
00013  * all copies or substantial portions of the Software.
00014  *
00015  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021  * THE SOFTWARE.
00022  */
00023 
00024 #ifndef MBED_MX28_H
00025 #define MBED_MX28_H
00026 
00027 #include "mbed.h"
00028 #include "SerialHalfDuplex.h"
00029 
00030 #define MX28_WRITE_DEBUG 0
00031 #define MX28_READ_DEBUG 0
00032 #define MX28_TRIGGER_DEBUG 0
00033 #define MX28_DEBUG 0
00034 #define MX28_ERROR_DEBUG 0
00035 
00036 #define MX28_REG_ID 0x3
00037 #define MX28_REG_CW_LIMIT 0x06
00038 #define MX28_REG_CCW_LIMIT 0x08
00039 #define MX28_REG_TORQUE_ENABLE 0x18
00040 #define MX28_REG_GOAL_POSITION 0x1E
00041 #define MX28_REG_MOVING_SPEED 0x20
00042 #define MX28_REG_VOLTS 0x2A
00043 #define MX28_REG_TEMP 0x2B
00044 #define MX28_REG_MOVING 0x2E
00045 #define MX28_REG_POSITION 0x24
00046 #define MX28_REG_TORQUE_LIMIT 0x22
00047 #define MX28_REG_CURRENT 0x38
00048 
00049 #define MX28_MODE_POSITION  0
00050 #define MX28_MODE_ROTATION  1
00051 
00052 #define MX28_CW 1
00053 #define MX28_CCW 0
00054 
00055 class MX28
00056 {
00057 
00058 public:
00059 
00060     /** Create an MX28 servo object connected to the specified serial port, with the specified ID
00061      *
00062      * @param pin tx pin
00063      * @param pin rx pin
00064      * @param int ID, the Bus ID of the servo 1-255
00065      */
00066     MX28(PinName tx, PinName rx, int ID, int baudrate);
00067 
00068     /** Set the mode of the servo
00069      * @param mode
00070      *    0 = Positional, default
00071      *    1 = Continuous rotation
00072      */
00073     int SetMode(int mode);
00074 
00075     /** Set goal angle in integer degrees, in positional mode
00076      *
00077      * @param degrees 0-360
00078      * @param flags, defaults to 0
00079      *    flags[0] = blocking, return when goal position reached
00080      *    flags[1] = register, activate with a broadcast trigger
00081      *
00082      */
00083     int SetGoal(int degrees, int flags = 0);
00084 
00085     /** Set the speed of the servo in continuous rotation mode
00086      *
00087      * @param speed, -1.0 to 1.0
00088      *   -1.0 = full speed counter clock wise
00089      *    1.0 = full speed clock wise
00090      */
00091     int SetCRSpeed(float speed);
00092 
00093 
00094     /** Set the clockwise limit of the servo
00095      *
00096      * @param degrees, 0-360
00097      */
00098     int SetCWLimit(int degrees);
00099 
00100     /** Set the counter-clockwise limit of the servo
00101      *
00102      * @param degrees, 0-360
00103      */
00104     int SetCCWLimit(int degrees);
00105 
00106     // Change the ID
00107 
00108     /** Change the ID of a servo
00109      *
00110      * @param CurentID 1-255
00111      * @param NewID 1-255
00112      *
00113      * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
00114      * In this situation, only one servo should be connected to the bus
00115      */
00116     int SetID(int CurrentID, int NewID);
00117 
00118 
00119     /** Poll to see if the servo is moving
00120      *
00121      * @returns true is the servo is moving
00122      */
00123     int isMoving(void);
00124 
00125     /** Send the broadcast "trigger" command, to activate any outstanding registered commands
00126      */
00127     void trigger(void);
00128 
00129     /** Read the current angle of the servo
00130      *
00131      * @returns float in the range 0.0-360.0
00132      */
00133     float GetPosition();
00134 
00135     /** Read the temperature of the servo
00136      *
00137      * @returns float temperature
00138      */
00139     float GetTemp(void);
00140 
00141     /** Read the supply voltage of the servo
00142      *
00143      * @returns float voltage
00144      */
00145     float GetVolts(void);
00146 
00147     /** Read the supply current of the servo
00148      *
00149      * @returns float current
00150      */
00151     float GetCurrent(void);
00152 
00153     int TorqueEnable(int mode);
00154 
00155     int SetTorqueLimit(float torque_limit);
00156 
00157 private :
00158 
00159     SerialHalfDuplex _mx28;
00160 //    Serial _mx28;
00161     int _ID;
00162 
00163     int read(int ID, int start, int length, char* data);
00164     int write(int ID, int start, int length, char* data, int flag=0);
00165 
00166 };
00167 
00168 #endif