Georgios Petrou / MX28

A library to control MX28 servos. It could also be used with the rest of the MX series servos.

Dependents:   IDcheck

Fork of MX28 by Georgios Petrou

This library is based on Robotis documentation regarding the dynamixel and MX28 protocols

It is part of a bigger project involving seven mbeds to control a hexapod robot.

I have not tried to control other MX series servos, but it should be possible to use this library with minor modifications.

Protocol.h@2:85216442d3ef, 2013-04-03 (annotated)

Committer:
GIPetrou
Date:
Wed Apr 03 16:44:50 2013 +0000
Revision:
2:85216442d3ef
Parent:
1:5f537df9dca8 
Updated code to work with latest mbed version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GIPetrou 0:ea5b951002cf 1 /* Dynamixel MX28 servo library
GIPetrou 0:ea5b951002cf 2 * Copyright (c) 2012 Georgios Petrou, MIT License
GIPetrou 0:ea5b951002cf 3 *
GIPetrou 0:ea5b951002cf 4 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
GIPetrou 0:ea5b951002cf 5 * and associated documentation files (the "Software"), to deal in the Software without restriction,
GIPetrou 0:ea5b951002cf 6 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
GIPetrou 0:ea5b951002cf 7 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
GIPetrou 0:ea5b951002cf 8 * furnished to do so, subject to the following conditions:
GIPetrou 0:ea5b951002cf 9 *
GIPetrou 0:ea5b951002cf 10 * The above copyright notice and this permission notice shall be included in all copies or
GIPetrou 0:ea5b951002cf 11 * substantial portions of the Software.
GIPetrou 0:ea5b951002cf 12 *
GIPetrou 0:ea5b951002cf 13 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
GIPetrou 0:ea5b951002cf 14 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
GIPetrou 0:ea5b951002cf 15 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
GIPetrou 0:ea5b951002cf 16 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
GIPetrou 0:ea5b951002cf 17 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
GIPetrou 0:ea5b951002cf 18 */
GIPetrou 0:ea5b951002cf 19
GIPetrou 2:85216442d3ef 20 #ifndef MX28_PROTOCOL_H
GIPetrou 2:85216442d3ef 21 #define MX28_PROTOCOL_H
GIPetrou 0:ea5b951002cf 22
GIPetrou 0:ea5b951002cf 23 #include "mbed.h"
GIPetrou 0:ea5b951002cf 24
GIPetrou 0:ea5b951002cf 25 #define MX28_BUFFER_SIZE 0x8F
GIPetrou 0:ea5b951002cf 26
GIPetrou 0:ea5b951002cf 27 #define MX28_PROTOCOL_COMMAND_RESPONSE_TIMEOUT_MS 200
GIPetrou 0:ea5b951002cf 28
GIPetrou 0:ea5b951002cf 29 #define MX28_PROTOCOL_HEADER_0 0xFF
GIPetrou 0:ea5b951002cf 30 #define MX28_PROTOCOL_HEADER_1 0xFF
GIPetrou 0:ea5b951002cf 31
GIPetrou 0:ea5b951002cf 32 #define MX28_PROTOCOL_BROADCAST_ID 0xFE
GIPetrou 0:ea5b951002cf 33
GIPetrou 0:ea5b951002cf 34 // EEPROM Area
GIPetrou 0:ea5b951002cf 35 #define MX28_MODEL_NUMBER_L 0x00
GIPetrou 0:ea5b951002cf 36 #define MX28_MODEL_NUMBER_H 0x01
GIPetrou 0:ea5b951002cf 37 #define MX28_VERSION 0x02
GIPetrou 0:ea5b951002cf 38 #define MX28_ID 0x03
GIPetrou 0:ea5b951002cf 39 #define MX28_BAUD_RATE 0x04
GIPetrou 0:ea5b951002cf 40 #define MX28_RETURN_DELAY_TIME 0x05
GIPetrou 0:ea5b951002cf 41 #define MX28_CW_ANGLE_LIMIT_L 0x06
GIPetrou 0:ea5b951002cf 42 #define MX28_CW_ANGLE_LIMIT_H 0x07
GIPetrou 0:ea5b951002cf 43 #define MX28_CCW_ANGLE_LIMIT_L 0x08
GIPetrou 0:ea5b951002cf 44 #define MX28_CCW_ANGLE_LIMIT_H 0x09
GIPetrou 0:ea5b951002cf 45 #define MX28_UP_LIMIT_TEMPERATURE 0x0B
GIPetrou 0:ea5b951002cf 46 #define MX28_DOWN_LIMIT_VOLTAGE 0x0C
GIPetrou 0:ea5b951002cf 47 #define MX28_UP_LIMIT_VOLTAGE 0x0D
GIPetrou 0:ea5b951002cf 48 #define MX28_MAX_TORQUE_L 0x0E
GIPetrou 0:ea5b951002cf 49 #define MX28_MAX_TORQUE_H 0x0F
GIPetrou 0:ea5b951002cf 50 #define MX28_STATUS_RETURN_LEVEL 0x10
GIPetrou 0:ea5b951002cf 51 #define MX28_ALARM_LED 0x11
GIPetrou 0:ea5b951002cf 52 #define MX28_ALARM_SHUTDOWN 0x12
GIPetrou 0:ea5b951002cf 53
GIPetrou 0:ea5b951002cf 54 // RAM Area
GIPetrou 0:ea5b951002cf 55 #define MX28_TORQUE_ENABLE 0x18
GIPetrou 0:ea5b951002cf 56 #define MX28_LED_ENABLE 0x19
GIPetrou 0:ea5b951002cf 57 #define MX28_D_GAIN 0x1A
GIPetrou 0:ea5b951002cf 58 #define MX28_I_GAIN 0x1B
GIPetrou 0:ea5b951002cf 59 #define MX28_P_GAIN 0x1C
GIPetrou 0:ea5b951002cf 60 #define MX28_GOAL_POSITION_L 0x1E
GIPetrou 0:ea5b951002cf 61 #define MX28_GOAL_POSITION_H 0x1F
GIPetrou 0:ea5b951002cf 62 #define MX28_MOVING_SPEED_L 0x20
GIPetrou 0:ea5b951002cf 63 #define MX28_MOVING_SPEED_H 0x21
GIPetrou 0:ea5b951002cf 64 #define MX28_TORQUE_LIMIT_L 0x22
GIPetrou 0:ea5b951002cf 65 #define MX28_TORQUE_LIMIT_H 0x23
GIPetrou 0:ea5b951002cf 66 #define MX28_PRESENT_POSITION_L 0x24
GIPetrou 0:ea5b951002cf 67 #define MX28_PRESENT_POSITION_H 0x25
GIPetrou 0:ea5b951002cf 68 #define MX28_PRESENT_SPEED_L 0x26
GIPetrou 0:ea5b951002cf 69 #define MX28_PRESENT_SPEED_H 0x27
GIPetrou 0:ea5b951002cf 70 #define MX28_PRESENT_LOAD_L 0x28
GIPetrou 0:ea5b951002cf 71 #define MX28_PRESENT_LOAD_H 0x29
GIPetrou 0:ea5b951002cf 72 #define MX28_PRESENT_VOLTAGE 0x2A
GIPetrou 0:ea5b951002cf 73 #define MX28_PRESENT_TEMPERATURE 0x2B
GIPetrou 0:ea5b951002cf 74 #define MX28_REGISTERED_INSTRUCTION 0x2C
GIPetrou 0:ea5b951002cf 75 #define MX28_MOVING 0x3E
GIPetrou 0:ea5b951002cf 76 #define MX28_LOCK 0x2F
GIPetrou 0:ea5b951002cf 77 #define MX28_PUNCH_L 0x30
GIPetrou 0:ea5b951002cf 78 #define MX28_PUNCH_H 0x31
GIPetrou 0:ea5b951002cf 79
GIPetrou 0:ea5b951002cf 80 // Instruction set
GIPetrou 0:ea5b951002cf 81 #define MX28_PING 0x01
GIPetrou 0:ea5b951002cf 82 #define MX28_READ_DATA 0x02
GIPetrou 0:ea5b951002cf 83 #define MX28_WRITE_DATA 0x03
GIPetrou 0:ea5b951002cf 84 #define MX28_REG_WRITE 0x04
GIPetrou 0:ea5b951002cf 85 #define MX28_ACTION 0x05
GIPetrou 0:ea5b951002cf 86 #define MX28_RESET 0x06
GIPetrou 0:ea5b951002cf 87 #define MX28_SYNC_WRITE 0x83
GIPetrou 0:ea5b951002cf 88
GIPetrou 0:ea5b951002cf 89 // Errors
GIPetrou 0:ea5b951002cf 90 #define MX28_ERRBIT_NONE 0x00
GIPetrou 0:ea5b951002cf 91 #define MX28_ERRBIT_VOLTAGE 0x01
GIPetrou 0:ea5b951002cf 92 #define MX28_ERRBIT_ANGLE 0x02
GIPetrou 0:ea5b951002cf 93 #define MX28_ERRBIT_OVERHEAT 0x04
GIPetrou 0:ea5b951002cf 94 #define MX28_ERRBIT_RANGE 0x08
GIPetrou 0:ea5b951002cf 95 #define MX28_ERRBIT_CHECKSUM 0x10
GIPetrou 0:ea5b951002cf 96 #define MX28_ERRBIT_OVERLOAD 0x20
GIPetrou 0:ea5b951002cf 97 #define MX28_ERRBIT_INSTRUCTION 0x40
GIPetrou 0:ea5b951002cf 98
GIPetrou 0:ea5b951002cf 99 // Extra errors
GIPetrou 0:ea5b951002cf 100 #define MX28_ERRBIT_WRITE_TIMEOUT 0xFD
GIPetrou 0:ea5b951002cf 101 #define MX28_ERRBIT_READ_TIMEOUT 0xFE
GIPetrou 0:ea5b951002cf 102 #define MX28_ERRBIT_MASTER_CHECKSUM 0xFF
GIPetrou 0:ea5b951002cf 103
GIPetrou 0:ea5b951002cf 104 struct MX28_PROTOCOL_PACKET
GIPetrou 0:ea5b951002cf 105 {
GIPetrou 0:ea5b951002cf 106 uint8_t servoId;
GIPetrou 0:ea5b951002cf 107 uint8_t length;
GIPetrou 0:ea5b951002cf 108 uint8_t instructionErrorId;
GIPetrou 0:ea5b951002cf 109 uint8_t parameter[MX28_BUFFER_SIZE];
GIPetrou 0:ea5b951002cf 110 uint8_t checkSum;
GIPetrou 0:ea5b951002cf 111 };
GIPetrou 0:ea5b951002cf 112
GIPetrou 0:ea5b951002cf 113 enum MX28_PROTOCOL_ENCODER_DECODER_STATE
GIPetrou 0:ea5b951002cf 114 {
GIPetrou 0:ea5b951002cf 115 WAIT_ON_HEADER_0,
GIPetrou 0:ea5b951002cf 116 WAIT_ON_HEADER_1,
GIPetrou 1:5f537df9dca8 117 WAIT_ON_SERVO_ID,
GIPetrou 0:ea5b951002cf 118 WAIT_ON_LENGTH,
GIPetrou 0:ea5b951002cf 119 WAIT_ON_INSTRUCTION_ERROR_ID,
GIPetrou 0:ea5b951002cf 120 WAIT_ON_PARAMETER,
GIPetrou 0:ea5b951002cf 121 WAIT_ON_CHECK_SUM
GIPetrou 0:ea5b951002cf 122 };
GIPetrou 0:ea5b951002cf 123
GIPetrou 2:85216442d3ef 124 #endif // MX28_PROTOCOL_H