File content as of revision 0:03f84c95f73b:

/* University of York Robotics Laboratory Robot Arm Controller Board
 *
 * Dynamixel Servo Library for AX-12 and MX-28
 *
 * Based on library by Chris Styles (see copyright notice at end of file)
 *
 * File: servo.cpp
 *
 * (C) Dept. Electronics & Computer Science, University of York
 * Chris Styles, James Hilder, Alan Millard, Shuhei Miyashita, Homero Elizondo, Jon Timmis
 *
 * February 2017, Version 1.0
 */
 
// NOTE:
// When communicating with 'new' servos the are defaulted to ID 1
// Make sure only one such servo is connected at one time
// Also note that this library defaults to 57600 serial comms
// The MX-28s are defaulted to communicate at this speed but the AX-12s are not (1Mbaud)
// Use SetInitBaud(57600) to override the default and then change baud rate when setting up MX-28s

#ifndef SERVO_H
#define SERVO_H

#include "mbed.h"
#include "SerialHalfDuplex.h"

#define WRITE_DEBUG 0
#define READ_DEBUG 0
#define TRIGGER_DEBUG 0
#define DEBUG 0

// Number of times to retry a read\write operation if read times out
#define READ_TIMEOUT_LIMIT 3

#define LOW_VOLTAGE_LIMIT 90
#define HIGH_VOLTAGE_LIMIT 140
#define HIGH_TEMPERATURE_LIMIT 70

#define AX12_MODEL 0x0C
#define MX28_MODEL 0x1D

#define RETURN_DELAY 250

#define REG_MODEL_NUMBER 0x00
#define REG_FIRMWARE_VERSION 0x02
#define REG_ID 0x03
#define REG_BAUDRATE 0x04
#define REG_RETURN_DELAY 0x05
#define REG_CW_LIMIT 0x06
#define REG_CCW_LIMIT 0x08
#define REG_HIGHTEMP_LIMIT 0x0B
#define REG_LOW_VOLTAGE_LIMIT 0x0C
#define REG_HIGH_VOLTAGE_LIMIT 0x0D
#define REG_MAX_TORQUE 0x0E
#define REG_TORQUE_ENABLE 0x18
#define REG_GOAL_POSITION 0x1E
#define REG_MOVING_SPEED 0x20
#define REG_VOLTS 0x2A
#define REG_TEMP 0x2B
#define REG_SPEED 0x26
#define REG_LOAD 0x28
#define REG_MOVING 0x2E
#define REG_POSITION 0x24
#define REG_EEPROM_LOCK 0x2F

#define MODE_POSITION  0
#define MODE_ROTATION  1

#define CW 1
#define CCW 0

extern Serial data;

class Servo {

public:

    /** Create a Dynamixel servo controller object connected to the specified serial port, with the specified ID
     *
     * @param pin tx pin
     * @param pin rx pin 
     */
    Servo(PinName tx, PinName rx);

    void ClearBuffer(void);

    void ScanForServos(void);


    /** Prints (over PC serial) a detailed set of data for the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     */
    void DebugData(int ID);

    /** Set the mode of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param mode
     *    0 = Positional, default
     *    1 = Continuous rotation
     */
    int SetMode(int ID,  int mode);

    /** Set goal angle, in positional mode
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param goal 0-4095
     * @param flags, defaults to 0
     *    flags[0] = blocking, return when goal position reached 
     *    flags[1] = register, activate with a broadcast trigger
     *
     */
    int SetGoal(int ID, short goal, int flags = 0);

    /** Set goal angle in integer degrees, in positional mode
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param degrees 0-300
     * @param flags, defaults to 0
     *    flags[0] = blocking, return when goal position reached 
     *    flags[1] = register, activate with a broadcast trigger
     *
     */
    int SetGoalDegrees(int ID, int degrees, int flags = 0);


    /** Set the speed of the servo in continuous rotation mode
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param speed, -1.0 to 1.0
     *   -1.0 = full speed counter clock wise
     *    1.0 = full speed clock wise
     */
    int SetCRSpeed(int ID, float speed);


    /** Set the clockwise limit of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param degrees, 0-300
     */
    int SetCWLimit(int ID, int degrees);
    
    /** Set the counter-clockwise limit of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param degrees, 0-300
     */
    int SetCCWLimit(int ID, int degrees);

    /** Enable or disable the torque hold of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param enable, 0=disable (floppy) 1=enable (hold)
     */
     int SetTorqueEnable (int ID, int enable);


    /** Change the low voltage limit of a servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param lv_limit, 0-254
     *
     * voltage = lv_limit / 10
     */
    int SetLowVoltageLimit (int ID, char lv_limit);
    
    /** Lock the EEPROM area of a servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     */
    int LockEeprom(int ID);
    
    /** Change the high voltage limit of a servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param hv_limit, 0-254
     *
     * voltage = hv_limit / 10
     */
    int SetHighVoltageLimit (int ID, char hv_limit);
    
    /** Change the delay time of a servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param delay, 0-254 C
     *
     */
    int SetDelayTime (int ID, char delay);
    
    /** Change the high temperature limit of a servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param temp_limit, 0-254 C
     *
     */
    int SetTemperatureLimit (int ID, char temp_limit);
    
    /** Change the ID of a servo
     *
     * @param CurentID 1-255
     * @param NewID 1-255
     *
     * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
     * In this situation, only one servo should be connected to the bus
     */
    int SetID(int CurrentID, int NewID);

    /** Change the baud of a servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @param baud, 0-252
     *
     * baudrate = 2000000/baud (with special cases 250=2.25Mbps, 251=2.5Mbps and 252=3Mbps on MX-28 only)
     */
    int SetBaud (int ID, int baud);

    /** Poll to see if the servo is moving
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @returns true is the servo is moving
     */
    int isMoving(int ID);

    /** Send the broadcast "trigger" command, to activate any outstanding registered commands
     */
    void trigger(void);

    /** Read the model number of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @returns int matching defined model number
     */
    int GetModelNumber(int ID);

    /** Read the current angle of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @returns float in the range 0.0-300.0
     */
    float GetPositionDegrees(int ID);


    /** Read the raw angle reading of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @returns short in the range 0 - 4095 for MX-28
     */
    short GetPosition(int ID);


    /** Read the temperature of the servo
     *
     * @returns float temperature 
     */
    float GetTemp(int ID);

    /** Read the supply voltage of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @returns short voltage * 10
     */
    short GetVoltage(int ID) ;
    
    /** Read the supply voltage of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @returns float voltage
     */
    float GetVolts(int ID);
    
    /** Read the temperature of the servo
     *
     * @returns short temperature 
     */
    short GetTemperature(int ID);

    /** Read the torque load of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @returns short load, range 0-2048, 0 is 100% CCW, 1024 is zero and 2048 is 100% CW
     */
    short GetLoad(int ID) ;
    
    /** Read the speed of the servo
     *
     * @param ID, the Bus ID of the servo 1-255 
     * @returns short speed
     */
    short GetSpeed(int ID) ;
        
     /** Change the internal baud rate to something other than 1000000 (note MX-28s default to 57600)
     *
     * @param baud, the baud rate to set
     * @param delaytime, the delay time to set (x2 us)
     */
    void SetInitBaud(int baud, int delaytime);
    

private :
    SerialHalfDuplex _servo;
    int read(int ID, int start, int length, char* data);
    int write(int ID, int start, int length, char* data, int flag=0);

};



#endif

/*
 * Copyright 2017 University of York
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and limitations under the License.
 *
 */

/*
 * Copyright (c) 2010, Chris Styles (http://mbed.org)
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */