pierre Rousselin / Mbed 2 deprecated AX12

a

Dependencies:   mbed

Fork of AX12 by Chris Styles

AX12.h@4:a7c95f3012db, 2017-10-18 (annotated)

Committer:
ROUSSELIN
Date:
Wed Oct 18 11:58:25 2017 +0000
Revision:
4:a7c95f3012db
Parent:
3:ced71d1b2558 
For Apollo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:be51952765ec 1 #define AX12_REG_ID 0x3
chris 3:ced71d1b2558 2 #define AX12_REG_BAUD 0x4
chris 0:be51952765ec 3 #define AX12_REG_CW_LIMIT 0x06
chris 0:be51952765ec 4 #define AX12_REG_CCW_LIMIT 0x08
chris 0:be51952765ec 5 #define AX12_REG_GOAL_POSITION 0x1E
chris 0:be51952765ec 6 #define AX12_REG_MOVING_SPEED 0x20
chris 0:be51952765ec 7 #define AX12_REG_VOLTS 0x2A
chris 0:be51952765ec 8 #define AX12_REG_TEMP 0x2B
chris 0:be51952765ec 9 #define AX12_REG_MOVING 0x2E
chris 0:be51952765ec 10 #define AX12_REG_POSITION 0x24
chris 0:be51952765ec 11
chris 0:be51952765ec 12 #define AX12_MODE_POSITION 0
chris 0:be51952765ec 13 #define AX12_MODE_ROTATION 1
chris 0:be51952765ec 14
chris 0:be51952765ec 15 #define AX12_CW 1
chris 0:be51952765ec 16 #define AX12_CCW 0
chris 0:be51952765ec 17
chris 0:be51952765ec 18 class AX12 {
chris 0:be51952765ec 19
chris 0:be51952765ec 20 public:
chris 0:be51952765ec 21
chris 1:93ad80f5fde7 22 /** Create an AX12 servo object connected to the specified serial port, with the specified ID
chris 1:93ad80f5fde7 23 *
chris 1:93ad80f5fde7 24 * @param pin tx pin
chris 1:93ad80f5fde7 25 * @param pin rx pin
chris 1:93ad80f5fde7 26 * @param int ID, the Bus ID of the servo 1-255
chris 1:93ad80f5fde7 27 */
ROUSSELIN 4:a7c95f3012db 28 AX12(int tx, int rx, int ID, int baud=1000000);
chris 0:be51952765ec 29
chris 1:93ad80f5fde7 30 /** Set the mode of the servo
chris 1:93ad80f5fde7 31 * @param mode
chris 1:93ad80f5fde7 32 * 0 = Positional, default
chris 1:93ad80f5fde7 33 * 1 = Continuous rotation
chris 1:93ad80f5fde7 34 */
chris 1:93ad80f5fde7 35 int SetMode(int mode);
chris 0:be51952765ec 36
chris 3:ced71d1b2558 37 /** Set baud rate of all attached servos
chris 3:ced71d1b2558 38 * @param mode
chris 3:ced71d1b2558 39 * 0x01 = 1,000,000 bps
chris 3:ced71d1b2558 40 * 0x03 = 500,000 bps
chris 3:ced71d1b2558 41 * 0x04 = 400,000 bps
chris 3:ced71d1b2558 42 * 0x07 = 250,000 bps
chris 3:ced71d1b2558 43 * 0x09 = 200,000 bps
chris 3:ced71d1b2558 44 * 0x10 = 115,200 bps
chris 3:ced71d1b2558 45 * 0x22 = 57,600 bps
chris 3:ced71d1b2558 46 * 0x67 = 19,200 bps
chris 3:ced71d1b2558 47 * 0xCF = 9,600 bp
chris 3:ced71d1b2558 48 */
chris 3:ced71d1b2558 49 int SetBaud(int baud);
chris 3:ced71d1b2558 50
chris 3:ced71d1b2558 51
chris 1:93ad80f5fde7 52 /** Set goal angle in integer degrees, in positional mode
chris 1:93ad80f5fde7 53 *
chris 1:93ad80f5fde7 54 * @param degrees 0-300
chris 1:93ad80f5fde7 55 * @param flags, defaults to 0
chris 1:93ad80f5fde7 56 * flags[0] = blocking, return when goal position reached
chris 1:93ad80f5fde7 57 * flags[1] = register, activate with a broadcast trigger
chris 1:93ad80f5fde7 58 *
chris 1:93ad80f5fde7 59 */
chris 0:be51952765ec 60 int SetGoal(int degrees, int flags = 0);
chris 0:be51952765ec 61
chris 0:be51952765ec 62
chris 1:93ad80f5fde7 63 /** Set the speed of the servo in continuous rotation mode
chris 1:93ad80f5fde7 64 *
chris 1:93ad80f5fde7 65 * @param speed, -1.0 to 1.0
chris 1:93ad80f5fde7 66 * -1.0 = full speed counter clock wise
chris 1:93ad80f5fde7 67 * 1.0 = full speed clock wise
chris 1:93ad80f5fde7 68 */
chris 0:be51952765ec 69 int SetCRSpeed(float speed);
chris 0:be51952765ec 70
chris 1:93ad80f5fde7 71
chris 1:93ad80f5fde7 72 /** Set the clockwise limit of the servo
chris 1:93ad80f5fde7 73 *
chris 1:93ad80f5fde7 74 * @param degrees, 0-300
chris 1:93ad80f5fde7 75 */
chris 0:be51952765ec 76 int SetCWLimit(int degrees);
chris 1:93ad80f5fde7 77
chris 1:93ad80f5fde7 78 /** Set the counter-clockwise limit of the servo
chris 1:93ad80f5fde7 79 *
chris 1:93ad80f5fde7 80 * @param degrees, 0-300
chris 1:93ad80f5fde7 81 */
chris 0:be51952765ec 82 int SetCCWLimit(int degrees);
chris 0:be51952765ec 83
chris 0:be51952765ec 84 // Change the ID
chris 1:93ad80f5fde7 85
chris 1:93ad80f5fde7 86 /** Change the ID of a servo
chris 1:93ad80f5fde7 87 *
chris 1:93ad80f5fde7 88 * @param CurentID 1-255
chris 1:93ad80f5fde7 89 * @param NewID 1-255
chris 1:93ad80f5fde7 90 *
chris 1:93ad80f5fde7 91 * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
chris 1:93ad80f5fde7 92 * In this situation, only one servo should be connected to the bus
chris 1:93ad80f5fde7 93 */
chris 0:be51952765ec 94 int SetID(int CurrentID, int NewID);
chris 0:be51952765ec 95
chris 1:93ad80f5fde7 96
chris 1:93ad80f5fde7 97 /** Poll to see if the servo is moving
chris 1:93ad80f5fde7 98 *
chris 1:93ad80f5fde7 99 * @returns true is the servo is moving
chris 1:93ad80f5fde7 100 */
chris 0:be51952765ec 101 int isMoving(void);
chris 0:be51952765ec 102
chris 1:93ad80f5fde7 103 /** Send the broadcast "trigger" command, to activate any outstanding registered commands
chris 1:93ad80f5fde7 104 */
chris 0:be51952765ec 105 void trigger(void);
chris 0:be51952765ec 106
chris 1:93ad80f5fde7 107 /** Read the current angle of the servo
chris 1:93ad80f5fde7 108 *
chris 1:93ad80f5fde7 109 * @returns float in the range 0.0-300.0
chris 1:93ad80f5fde7 110 */
chris 0:be51952765ec 111 float GetPosition();
chris 0:be51952765ec 112
chris 1:93ad80f5fde7 113 /** Read the temperature of the servo
chris 1:93ad80f5fde7 114 *
chris 1:93ad80f5fde7 115 * @returns float temperature
chris 1:93ad80f5fde7 116 */
chris 0:be51952765ec 117 float GetTemp(void);
chris 1:93ad80f5fde7 118
chris 1:93ad80f5fde7 119 /** Read the supply voltage of the servo
chris 1:93ad80f5fde7 120 *
chris 1:93ad80f5fde7 121 * @returns float voltage
chris 1:93ad80f5fde7 122 */
chris 0:be51952765ec 123 float GetVolts(void);
chris 0:be51952765ec 124
chris 2:5ea99c37a2d7 125 int read(int ID, int start, int length, char* data);
chris 2:5ea99c37a2d7 126 int write(int ID, int start, int length, char* data, int flag=0);
chris 2:5ea99c37a2d7 127
chris 0:be51952765ec 128 private :
ROUSSELIN 4:a7c95f3012db 129
ROUSSELIN 4:a7c95f3012db 130 // SerialHalfDuplex _ax12;
chris 0:be51952765ec 131 int _ID;
chris 2:5ea99c37a2d7 132 int _baud;
ROUSSELIN 4:a7c95f3012db 133
ROUSSELIN 4:a7c95f3012db 134
ROUSSELIN 4:a7c95f3012db 135 };
chris 0:be51952765ec 136
chris 1:93ad80f5fde7 137