Diff: main.cpp

Revision:

0:03f84c95f73b

Child:

1:21a24da53b7f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Feb 16 20:45:33 2017 +0000
@@ -0,0 +1,100 @@
+// Dynamixel Servo Setup Code
+// 
+// Modify the commented lines in main() to setup required servos
+
+#include "servo.h"
+#include "mbed.h"
+#include "SerialHalfDuplex.h"
+
+#define BASE 10
+#define SHOULDER 11
+#define ELBOW 12
+#define WRIST 13
+
+Serial pc(USBTX,USBRX);
+Servo servo(p9,p10);
+
+void scan_for_servos()
+{
+    pc.printf("Scanning for servos at 57600 baud:\n");
+    servo.SetInitBaud(57600,250);
+    for(int i=0;i<254;i++){
+        int model = servo.GetModelNumber(i);
+        if(model == AX12_MODEL) pc.printf("AX-12 found at ID %d",i);
+        if(model == MX28_MODEL) pc.printf("MX-28 found at ID %d",i);
+    }   
+    wait(0.5);
+    pc.printf("\n\nScanning for servos at 1M baud:\n");
+    servo.SetInitBaud(1000000,50);
+    for(int i=0;i<254;i++){
+        int model = servo.GetModelNumber(i);
+        if(model == AX12_MODEL) pc.printf("AX-12 found at ID %d",i);
+        if(model == MX28_MODEL) pc.printf("MX-28 found at ID %d",i);
+    }   
+    while(1);
+}
+
+void initialise_mx28_servo(int current_address, int target_servo)
+{
+    pc.printf("RUNNING SERVO SETUP ROUTINE FOR SERVO %d\n\n",target_servo);
+
+    // MX-28s default to a baud rate of 57600 with delay time of 500us
+    servo.SetInitBaud(57600, 250);
+    int model = servo.GetModelNumber(current_address);
+    if(model != MX28_MODEL) {
+        pc.printf("Error: No MX-28 servo with ID %d found...\n",current_address);
+        while(1);
+    }
+    pc.printf("\n\nSetting up MX-28 servo to ID %d\n",target_servo);
+    servo.SetID(current_address,target_servo);
+    wait(0.25);
+    pc.printf("Getting servo data:\n");
+    servo.DebugData(target_servo);
+    pc.printf("\n\nDone (check messages above to verify status)\n");
+    while(1);
+}
+
+void initialise_ax12_servo(int current_address, int target_servo)
+{
+    pc.printf("RUNNING SERVO SETUP ROUTINE FOR SERVO %d\n\n",target_servo);
+
+    // AX-12s default to a baud rate of 1M with delay time of 100us
+    servo.SetInitBaud(1000000, 50);
+    int model = servo.GetModelNumber(current_address);
+    if(model != AX12_MODEL) {
+        pc.printf("Error: No AX12 servo with ID %d found...\n",current_address);
+        while(1);
+    }
+    pc.printf("\n\nSetting up AX-12 servo to ID %d\n",target_servo);
+    servo.SetID(current_address,target_servo);
+    wait(0.25);
+    pc.printf("Setting return delay time for servo to 500us\n");
+    servo.SetDelayTime(target_servo,250);
+    wait(0.25);
+    pc.printf("Setting baud rate for servo to 57600\n");
+    servo.SetBaud(target_servo,0x22);
+    wait(0.25);
+    pc.printf("Resetting connecting baud rate\n");
+    servo.SetInitBaud(57600, 250);
+    wait(0.25);
+    pc.printf("Getting servo data:\n");
+    servo.DebugData(target_servo);
+    pc.printf("\n\nDone (check messages above to verify status)\n");
+    while(1);
+}
+int main()
+{
+    pc.baud(115200);
+    pc.printf("Dynamixel Servo Setup\n");
+    
+    // To scan for servos, uncomment the following line:
+    //scan_for_servos();
+   
+    // To setup a new MX-28 servo, uncomment the following line and replace first number with current ID and second number with target ID:
+    //initialise_mx28_servo(1,BASE);
+    
+    // To setup a new AX-12 servo, uncomment the following line and replace first number with current ID and second number with target ID:
+    //initialise_ax12_servo(1,WRIST); 
+    
+    pc.printf("Edit the comments in main() to check and program servos.\n");
+}