James Hilder
Code to set up an AX-12 or MX-28 (and to scan for unidentified servos) ready for use in the robot arm.
Revision 0:03f84c95f73b, committed 2017-02-16
- Comitter:
- jah128
- Date:
- Thu Feb 16 20:45:33 2017 +0000
- Child:
- 1:21a24da53b7f
- Commit message:
- Initial commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialHalfDuplex.cpp Thu Feb 16 20:45:33 2017 +0000
@@ -0,0 +1,80 @@
+ /* NB This is part of an older MBED library, included so the older code runs on the
+ * newer MBED library. There is probably a better implementation.... - jah */
+
+ /* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * 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.
+ *
+ * NOTE: This is an unsupported legacy untested library.
+ */
+#include "SerialHalfDuplex.h"
+
+#if DEVICE_SERIAL
+
+#include "pinmap.h"
+#include "serial_api.h"
+#include "gpio_api.h"
+
+namespace mbed {
+
+SerialHalfDuplex::SerialHalfDuplex(PinName tx, PinName rx, const char *name)
+ : Serial(tx, rx, name) {
+ _txpin = tx;
+
+ // set as input
+ gpio_set(_txpin);
+ pin_mode(_txpin, PullNone); // no pull
+ pin_function(_txpin, 0); // set as gpio
+}
+
+// To transmit a byte in half duplex mode:
+// 1. Disable interrupts, so we don't trigger on loopback byte
+// 2. Set tx pin to UART out
+// 3. Transmit byte as normal
+// 4. Read back byte from looped back tx pin - this both confirms that the
+// transmit has occurred, and also clears the byte from the buffer.
+// 5. Return pin to input mode
+// 6. Re-enable interrupts
+
+int SerialHalfDuplex::_putc(int c) {
+ int retc;
+
+ // TODO: We should not disable all interrupts
+ __disable_irq();
+
+ serial_pinout_tx(_txpin);
+
+ Serial::_putc(c);
+ retc = Serial::getc(); // reading also clears any interrupt
+
+ pin_function(_txpin, 0);
+
+ __enable_irq();
+
+ return retc;
+}
+
+int SerialHalfDuplex::_getc(void) {
+ return Serial::_getc();
+}
+
+} // End namespace
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialHalfDuplex.h Thu Feb 16 20:45:33 2017 +0000
@@ -0,0 +1,210 @@
+ /* NB This is part of an older MBED library, included so the older code runs on the
+ * newer MBED library. There is probably a better implementation.... - jah */
+
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * 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.
+ *
+ * NOTE: This is an unsupported legacy untested library.
+ */
+#ifndef MBED_SERIALHALFDUPLEX_H
+#define MBED_SERIALHALFDUPLEX_H
+
+#include "device.h"
+
+#if DEVICE_SERIAL
+
+#include "Serial.h"
+#include "PinNames.h"
+#include "PeripheralNames.h"
+
+namespace mbed {
+
+/* Class: SerialHalfDuplex
+ * A serial port (UART) for communication with other devices using
+ * Half-Duplex, allowing transmit and receive on a single
+ * shared transmit and receive line. Only one end should be transmitting
+ * at a time.
+ *
+ * Both the tx and rx pin should be defined, and wired together.
+ * This is in addition to them being wired to the other serial
+ * device to allow both read and write functions to operate.
+ *
+ * Example:
+ * > // Send a byte to a second HalfDuplex device, and read the response
+ * >
+ * > #include "mbed.h"
+ * >
+ * > // p9 and p10 should be wired together to form "a"
+ * > // p28 and p27 should be wired together to form "b"
+ * > // p9/p10 should be wired to p28/p27 as the Half Duplex connection
+ * >
+ * > SerialHalfDuplex a(p9, p10);
+ * > SerialHalfDuplex b(p28, p27);
+ * >
+ * > void b_rx() { // second device response
+ * > b.putc(b.getc() + 4);
+ * > }
+ * >
+ * > int main() {
+ * > b.attach(&b_rx);
+ * > for(int c = 'A'; c < 'Z'; c++) {
+ * > a.putc(c);
+ * > printf("sent [%c]\n", c);
+ * > wait(0.5); // b should respond
+ * > if(a.readable()) {
+ * > printf("received [%c]\n", a.getc());
+ * > }
+ * > }
+ * > }
+ *
+ * For Simplex and Full-Duplex Serial communication, see <Serial>
+ */
+class SerialHalfDuplex : public Serial {
+
+public:
+ /* Constructor: SerialHalfDuplex
+ * Create a half-duplex serial port, connected to the specified transmit
+ * and receive pins.
+ *
+ * These pins should be wired together, as well as to the target device
+ *
+ * Variables:
+ * tx - Transmit pin
+ * rx - Receive pin
+ */
+ SerialHalfDuplex(PinName tx, PinName rx, const char *name = NULL);
+
+#if 0 // Inherited from Serial class, for documentation
+ /* Function: baud
+ * Set the baud rate of the serial port
+ *
+ * Variables:
+ * baudrate - The baudrate of the serial port (default = 9600).
+ */
+ void baud(int baudrate);
+
+ enum Parity {
+ None = 0
+ , Odd
+ , Even
+ , Forced1
+ , Forced0
+ };
+
+ /* Function: format
+ * Set the transmission format used by the Serial port
+ *
+ * Variables:
+ * bits - The number of bits in a word (5-8; default = 8)
+ * parity - The parity used (Serial::None, Serial::Odd,
+Serial::Even, Serial::Forced1, Serial::Forced0; default = Serial::None)
+ * stop - The number of stop bits (1 or 2; default = 1)
+ */
+ void format(int bits = 8, Parity parity = Serial::None, int stop_bits
+= 1);
+
+ /* Function: putc
+ * Write a character
+ *
+ * Variables:
+ * c - The character to write to the serial port
+ */
+ int putc(int c);
+
+ /* Function: getc
+ * Read a character
+ *
+ * Read a character from the serial port. This call will block
+ * until a character is available. For testing if a character is
+ * available for reading, see <readable>.
+ *
+ * Variables:
+ * returns - The character read from the serial port
+ */
+ int getc();
+
+ /* Function: printf
+ * Write a formated string
+ *
+ * Variables:
+ * format - A printf-style format string, followed by the
+ * variables to use in formating the string.
+ */
+ int printf(const char* format, ...);
+
+ /* Function: scanf
+ * Read a formated string
+ *
+ * Variables:
+ * format - A scanf-style format string,
+ * followed by the pointers to variables to store the results.
+ */
+ int scanf(const char* format, ...);
+
+ /* Function: readable
+ * Determine if there is a character available to read
+ *
+ * Variables:
+ * returns - 1 if there is a character available to read, else 0
+ */
+ int readable();
+
+ /* Function: writeable
+ * Determine if there is space available to write a character
+ *
+ * Variables:
+ * returns - 1 if there is space to write a character, else 0
+ */
+ int writeable();
+
+ /* Function: attach
+ * Attach a function to call whenever a serial interrupt is generated
+ *
+ * Variables:
+ * fptr - A pointer to a void function, or 0 to set as none
+ */
+ void attach(void (*fptr)(void));
+
+ /* Function: attach
+ * Attach a member function to call whenever a serial interrupt is generated
+ *
+ * Variables:
+ * tptr - pointer to the object to call the member function on
+ * mptr - pointer to the member function to be called
+ */
+ template<typename T>
+ void attach(T* tptr, void (T::*mptr)(void));
+
+#endif
+
+protected:
+ PinName _txpin;
+
+ virtual int _putc(int c);
+ virtual int _getc(void);
+
+}; // End class SerialHalfDuplex
+
+} // End namespace
+
+#endif
+
+#endif
\ No newline at end of file
--- /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");
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Feb 16 20:45:33 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/25aea2a3f4e3 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/servo.cpp Thu Feb 16 20:45:33 2017 +0000
@@ -0,0 +1,895 @@
+/* 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
+ */
+
+#include "servo.h"
+extern Serial pc;
+int delay = RETURN_DELAY;
+char read_timeout_counter = 0;
+Servo::Servo(PinName tx, PinName rx)
+ : _servo(tx,rx)
+{
+ _servo.baud(57600);
+}
+
+void Servo::ClearBuffer()
+{
+ if (_servo.readable()) {
+ pc.printf("\nBuffer error:");
+ while(_servo.readable()) {
+ pc.printf("%c",_servo.getc());
+ }
+ pc.printf("\n");
+ }
+}
+void Servo::ScanForServos ()
+{
+ pc.printf("Scanning for servos...\n");
+ pc.printf("Checking at 57600 baud\n");
+ _servo.baud(57600);
+ delay = 250;
+ int found = 0;
+ for(int k=0; k<2; k++) {
+ if(k==1) {
+ _servo.baud(1000000);
+ pc.printf("\nChecking at 1000000 baud\n");
+ }
+ for(int id = 0; id<254; id++) {
+ if(DEBUG==1)pc.printf("ID %d: ",id);
+ char TxBuf[8];
+ TxBuf[0] = 0xff;
+ TxBuf[1] = 0xff;
+ TxBuf[2] = id;
+ char sum = id + 7;
+ TxBuf[3] = 4;
+ TxBuf[4] = 2;
+ TxBuf[5] = REG_MODEL_NUMBER;
+ TxBuf[6] = 1;
+ TxBuf[7] = 0xFF - sum;
+ for (int i = 0; i<8 ; i++) {
+ _servo.putc(TxBuf[i]);
+ }
+ // Wait for data to transmit
+ int t_delay = 60;
+ wait_us(t_delay);
+ if(_servo.readable()) {
+ pc.printf("ID %d: ",id);
+ // Receive the Status packet 6+ number of bytes read
+ char status[8];
+ for (int i=0; i<(7) ; i++) {
+ if(!_servo.readable()) {pc.printf("Data error\n");break;}
+ status[i] = _servo.getc();
+ }
+ if(status[2] == id) {
+ found ++;
+ pc.printf(" FOUND [");
+ char modelnumber = status[5];
+ switch(modelnumber) {
+ case (AX12_MODEL):
+ pc.printf("AX12]\n");
+ break;
+ case (MX28_MODEL):
+ pc.printf("MX28]\n");
+ break;
+ default:
+ pc.printf("UNKNOWN MODEL]\n");
+ break;
+ }
+ } else pc.printf(" ID ERROR\n");
+ } else {
+ //pc.printf(" NOT FOUND\n");
+ }
+ }
+ }
+ if(found > 0)pc.printf("\nScan complete [%d servos found].\n",found);
+ else pc.printf("\nScan complete - no servos found.\n");
+ delay = RETURN_DELAY;
+}
+
+
+// Get detailed data for servo
+void Servo::DebugData(int ID)
+{
+ pc.printf("\nGetting Current Data for Servo %d",ID);
+
+
+ char data[49];
+ for(int i=0; i<12; i++) {
+ int offset = i*4;
+ int ErrorCode = read(ID, offset, 4, data+offset);
+ pc.printf(".");
+ }
+ pc.printf("\n");
+
+
+ pc.printf("\nEEPROM VALUES\n");
+
+ int modelnumber = data[0] + (data[1] << 8);
+ pc.printf("Model Number : %x [",modelnumber);
+ switch(modelnumber) {
+ case (AX12_MODEL):
+ pc.printf("AX12]\n");
+ break;
+ case (MX28_MODEL):
+ pc.printf("MX28]\n");
+ break;
+ default:
+ pc.printf("UNKNOWN]\n");
+ break;
+ }
+ pc.printf("Firmware Version : %x\n",data[2]);
+ pc.printf("ID : %x\n",data[3]);
+ int baudrate = 2000000 / (data[4] + 1);
+ //Special high-speed baudrates [for MX28 only]
+ if(data[4] == 250) baudrate = 2250000;
+ if(data[4] == 251) baudrate = 2500000;
+ if(data[4] == 252) baudrate = 3000000;
+ pc.printf("Baud Rate : %x [%d]\n",data[4],baudrate);
+ pc.printf("Return Delay Time : %x [%duS]\n",data[5],(data[5] * 2));
+ short cw_angle_limit = data[6] + (data[7] << 8);
+ short ccw_angle_limit = data[8] + (data[9] << 8);
+ pc.printf("CW Angle Limit : %x [%d",cw_angle_limit,cw_angle_limit);
+ if(cw_angle_limit ==0 && ccw_angle_limit == 0)pc.printf(" - Wheel Mode]\n");
+ else {
+ if(cw_angle_limit == 4095 && ccw_angle_limit == 4095)pc.printf(" - Multiturn Mode]\n");
+ else pc.printf("- Joint Mode]\n");
+ }
+ pc.printf("CCW Angle Limit : %x [%d",ccw_angle_limit,ccw_angle_limit);
+ if(cw_angle_limit ==0 && ccw_angle_limit == 0)pc.printf(" - Wheel Mode]\n");
+ else {
+ if(cw_angle_limit == 4095 && ccw_angle_limit == 4095)pc.printf(" - Multiturn Mode]\n");
+ else pc.printf("- Joint Mode]\n");
+ }
+ //Fill in blanks
+ pc.printf("High Temp Limit : %x [%dC]\n",data[11],data[11]);
+ pc.printf("Low Voltage Limit : %x [%2.1fV]\n",data[12],(float) (data[12]*0.1f));
+ pc.printf("High Voltage Limit: %x [%2.1fV]\n",data[13],(float) (data[13]*0.1f));
+ short max_torque = data[14] + (data[15] << 8);
+ float pct_max_torque = (float) (max_torque / 10.23f);
+ pc.printf("Preset Max Torque : %x [%3.2f%%]\n",max_torque,pct_max_torque);
+ pc.printf("Status Return Lev.: %x [%d]\n",data[16]);
+ pc.printf("Alarm LED : %x [%d]\n",data[17]);
+ pc.printf("Alarm Shutdown : %x [%d]\n",data[18]);
+ short multiturn_offset = data[20] + (data[21] << 8);
+ pc.printf("Multiturn Offset : %x [%d]\n",multiturn_offset,multiturn_offset);
+ pc.printf("\nRAM VALUES\n");
+ pc.printf("Torque Enable : %x\n",data[24]);
+ pc.printf("LED : %x\n",data[25]);
+ pc.printf("D Gain : %x [%d]\n",data[26],data[26]);
+ pc.printf("I Gain : %x [%d]\n",data[27],data[27]);
+ pc.printf("P Gain : %x [%d]\n",data[28],data[28]);
+ short goal_position = data[30] + (data[31] << 8);
+ float gp_degrees = (goal_position - 2048) * 0.087890625;
+ pc.printf("Goal Position : %x [%d: %3.2f degrees]\n",goal_position,goal_position,gp_degrees);
+ short moving_speed = data[32] + (data[33] << 8);
+ float mv_rpm = moving_speed * 0.114;
+ pc.printf("Moving Speed : %x [%d: %4.2 rpm]\n",moving_speed,moving_speed,mv_rpm);
+ short c_max_torque = data[34] + (data[35] << 8);
+ float cpct_max_torque = (float) (c_max_torque / 10.23f);
+ pc.printf("Current Max Torque: %x [%3.2f%%]\n",c_max_torque,cpct_max_torque);
+ short present_position = data[36] + (data[37] << 8);
+ float pp_degrees = present_position * 0.088f;
+ pc.printf("Present Position : %x [%d: %3.2f degrees]\n",present_position,present_position,pp_degrees);
+ short present_speed = data[38] + (data[39] << 8);
+ float p_rpm = present_speed * 0.114;
+ pc.printf("Present Speed : %x [%d: %4.2 rpm]\n",present_speed,present_speed,p_rpm);
+ short present_load = data[40] + (data[41] << 8);
+ if(present_load < 1024) {
+ float present_loadpct = (1024 - present_load) / 10.23f;
+ pc.printf("Present Load : %x [%3.2f%% CCW]\n",present_load,present_loadpct);
+ } else {
+ if(present_load > 1024) {
+ float present_loadpct_cw = (present_load - 1024) / 10.23f;
+ pc.printf("Present Load : %x [%3.2f%% CW]\n",present_load,present_loadpct_cw);
+ } else pc.printf("Present Load : %x [NONE]\n",present_load);
+ }
+ pc.printf("Voltage : %x [%fV]\n",data[42],(data[42] * 0.1f));
+ pc.printf("Temperature : %x [%dC]\n",data[43],data[43]);
+}
+
+// Set the mode of the servo
+// 0 = Positional (0-300 degrees)
+// 1 = Rotational -1 to 1 speed
+int Servo::SetMode(int ID, int mode)
+{
+ if (mode == 1) { // set CR
+ SetCWLimit(ID, 0);
+ SetCCWLimit(ID, 0);
+ SetCRSpeed(ID, 0.0);
+ } else {
+ SetCWLimit(ID, 0);
+ SetCCWLimit(ID, 300);
+ SetCRSpeed(ID, 0.0);
+ }
+ return(0);
+}
+
+// if flag[0] is set, were blocking
+// if flag[1] is set, we're registering
+// they are mutually exclusive operations
+int Servo::SetGoal(int ID, short goal, int flags)
+{
+
+ char reg_flag = 0;
+ char data[2];
+
+ // set the flag is only the register bit is set in the flag
+ if (flags == 0x2) {
+ reg_flag = 1;
+ }
+ if (DEBUG) {
+ pc.printf("SetGoal to 0x%x ",goal);
+ }
+
+ data[0] = goal & 0xff; // bottom 8 bits
+ data[1] = goal >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ int rVal = write(ID, REG_GOAL_POSITION, 2, data, reg_flag);
+
+ if (flags == 1) {
+ // block until it comes to a halt
+ if (DEBUG) pc.printf(" [WAITING]");
+ while (isMoving(ID)) {}
+ }
+ if (DEBUG) pc.printf("\n");
+ return(rVal);
+}
+
+// if flag[0] is set, were blocking
+// if flag[1] is set, we're registering
+// they are mutually exclusive operations
+int Servo::SetGoalDegrees(int ID, int degrees, int flags)
+{
+ short goal = (degrees * 11.377778) + 2048;
+ return SetGoal(ID,goal,flags);
+}
+
+
+// Set continuous rotation speed from -1 to 1
+int Servo::SetCRSpeed(int ID, float speed)
+{
+
+ // bit 10 = direction, 0 = CCW, 1=CW
+ // bits 9-0 = Speed
+ char data[2];
+
+ int goal = (0x3ff * abs(speed));
+
+ // Set direction CW if we have a negative speed
+ if (speed < 0) {
+ goal |= (0x1 << 10);
+ }
+
+ data[0] = goal & 0xff; // bottom 8 bits
+ data[1] = goal >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ int rVal = write(ID, 0x20, 2, data);
+
+ return(rVal);
+}
+
+
+int Servo::SetCWLimit (int ID, int degrees)
+{
+
+ char data[2];
+
+ // 1023 / 300 * degrees
+ short limit = (1023 * degrees) / 300;
+
+ if (DEBUG) {
+ pc.printf("SetCWLimit to 0x%x\n",limit);
+ }
+
+ data[0] = limit & 0xff; // bottom 8 bits
+ data[1] = limit >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ return (write(ID, REG_CW_LIMIT, 2, data));
+
+}
+
+int Servo::SetCCWLimit (int ID, int degrees)
+{
+
+ char data[2];
+
+ // 1023 / 300 * degrees
+ short limit = (1023 * degrees) / 300;
+
+ if (DEBUG) {
+ pc.printf("SetCCWLimit to 0x%x\n",limit);
+ }
+
+ data[0] = limit & 0xff; // bottom 8 bits
+ data[1] = limit >> 8; // top 8 bits
+
+ // write the packet, return the error code
+ return (write(ID, REG_CCW_LIMIT, 2, data));
+}
+
+int Servo::SetTorqueEnable (int ID, int enable)
+{
+ char data[1];
+ data[0]=enable;
+ if (DEBUG) {
+ pc.printf("SetTorqueEnable to %d\n",enable);
+ }
+
+
+ // write the packet, return the error code
+ return (write(ID, REG_TORQUE_ENABLE, 1, data));
+}
+
+int Servo::SetLowVoltageLimit (int ID, char lv_limit)
+{
+
+ char data[1];
+ data[0] = lv_limit;
+ if (DEBUG) {
+ pc.printf("Setting low voltage limit to %2.1f\n",(float) lv_limit / 10.0);
+ }
+ return (write(ID, REG_LOW_VOLTAGE_LIMIT, 1, data));
+}
+
+int Servo::LockEeprom (int ID)
+{
+ char data[1];
+ data[0]=1;
+ if (DEBUG) {
+ pc.printf("Locking EEPROM\n");
+ }
+ return (write(ID, REG_EEPROM_LOCK, 1, data));
+}
+
+int Servo::SetHighVoltageLimit (int ID, char hv_limit)
+{
+
+ char data[1];
+ data[0] = hv_limit;
+ if (DEBUG) {
+ pc.printf("Setting high voltage limit to %2.1f\n",(float) hv_limit / 10.0);
+ }
+ return (write(ID, REG_HIGH_VOLTAGE_LIMIT, 1, data));
+}
+
+int Servo::SetDelayTime (int ID, char delay)
+{
+ char data[1];
+ data[0] = delay;
+ if (DEBUG) {
+ pc.printf("Setting delay time to %dus\n",delay+delay);
+ }
+ return (write(ID, REG_RETURN_DELAY, 1, data));
+}
+
+
+
+int Servo::SetTemperatureLimit (int ID, char temp_limit)
+{
+
+ char data[1];
+ data[0] = temp_limit;
+ if (DEBUG) {
+ pc.printf("Setting temperature limit to %dC\n",temp_limit);
+ }
+ return (write(ID, REG_HIGHTEMP_LIMIT, 1, data));
+}
+
+int Servo::SetID (int CurrentID, int NewID)
+{
+
+ char data[1];
+ data[0] = NewID;
+ if (DEBUG) {
+ pc.printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
+ }
+ return (write(CurrentID, REG_ID, 1, data));
+
+}
+
+int Servo::SetBaud (int ID, int baud)
+{
+
+ char data[1];
+ data[0] = baud;
+ if (DEBUG) {
+ pc.printf("Setting baud to %d\n",(2000000 / baud));
+ }
+ return (write(ID, REG_BAUDRATE, 1, data));
+
+}
+
+
+// return 1 is the servo is still in flight
+int Servo::isMoving(int ID)
+{
+
+ char data[1];
+ read(ID,REG_MOVING,1,data);
+ return(data[0]);
+}
+
+
+void Servo::trigger(void)
+{
+
+ char TxBuf[16];
+ char sum = 0;
+
+ if (TRIGGER_DEBUG) {
+ pc.printf("\nTriggered\n");
+ }
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+ if (TRIGGER_DEBUG) {
+ pc.printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
+ }
+
+ TxBuf[0] = 0xFF;
+ TxBuf[1] = 0xFF;
+
+ // ID - Broadcast
+ TxBuf[2] = 0xFE;
+ sum += TxBuf[2];
+
+ if (TRIGGER_DEBUG) {
+ pc.printf(" ID : %d\n",TxBuf[2]);
+ }
+
+ // Length
+ TxBuf[3] = 0x02;
+ sum += TxBuf[3];
+ if (TRIGGER_DEBUG) {
+ pc.printf(" Length %d\n",TxBuf[3]);
+ }
+
+ // Instruction - ACTION
+ TxBuf[4] = 0x04;
+ sum += TxBuf[4];
+ if (TRIGGER_DEBUG) {
+ pc.printf(" Instruction 0x%X\n",TxBuf[5]);
+ }
+
+ // Checksum
+ TxBuf[5] = 0xFF - sum;
+ if (TRIGGER_DEBUG) {
+ pc.printf(" Checksum 0x%X\n",TxBuf[5]);
+ }
+
+ // Transmit the packet in one burst with no pausing
+ for (int i = 0; i < 6 ; i++) {
+ _servo.putc(TxBuf[i]);
+ }
+
+ // This is a broadcast packet, so there will be no reply
+
+ return;
+}
+
+int Servo::GetModelNumber(int ID)
+{
+ if (DEBUG) {
+ pc.printf("\nGetModelNumber(%d)",ID);
+ }
+ char data[2];
+ int ErrorCode = read(ID, REG_MODEL_NUMBER, 2, data);
+ int modelnumber = data[0] + (data[1] << 8);
+ return (modelnumber);
+}
+
+float Servo::GetPositionDegrees(int ID)
+{
+ short position = GetPosition(ID);
+ //float angle = (position * 300)/1024; FOR AX-12
+ float angle = (position - 2048) * 0.087890625;
+
+ return (angle);
+}
+
+short Servo::GetPosition(int ID)
+{
+
+ if (DEBUG) {
+ pc.printf("\nGetPosition(%d)",ID);
+ }
+
+ char data[2];
+
+ int ErrorCode = read(ID, REG_POSITION, 2, data);
+ if (DEBUG) {
+ pc.printf("[EC=%d]",ErrorCode);
+ }
+ short position = data[0] + (data[1] << 8);
+
+ return (position);
+}
+
+
+float Servo::GetTemp (int ID)
+{
+
+ if (DEBUG) {
+ pc.printf("\nGetTemp(%d)",ID);
+ }
+ char data[1];
+ int ErrorCode = read(ID, REG_TEMP, 1, data);
+ float temp = data[0];
+ return(temp);
+}
+
+short Servo::GetTemperature(int ID)
+{
+ if (DEBUG) {
+ pc.printf("\nGetTemperature(%d)",ID);
+ }
+ char data[1];
+ int ErrorCode = read(ID, REG_TEMP, 1, data);
+ return (short) (data[0]);
+}
+
+float Servo::GetVolts (int ID)
+{
+ if (DEBUG) {
+ pc.printf("\nGetVolts(%d)",ID);
+ }
+ char data[1];
+ int ErrorCode = read(ID, REG_VOLTS, 1, data);
+ float volts = data[0]/10.0;
+ return(volts);
+}
+
+short Servo::GetVoltage(int ID)
+{
+ if (DEBUG) {
+ pc.printf("\nGetVoltage(%d)",ID);
+ }
+ char data[1];
+ int ErrorCode = read(ID, REG_VOLTS, 1, data);
+ return (short) (data[0]);
+}
+
+short Servo::GetLoad(int ID)
+{
+ if (DEBUG) {
+ pc.printf("\nGetLoad(%d)",ID);
+ }
+ char data[2];
+ int ErrorCode = read(ID, REG_LOAD, 2, data);
+ return (short) (data[0] + (data[1]<<8));
+}
+
+short Servo::GetSpeed(int ID)
+{
+ if (DEBUG) {
+ pc.printf("\nGetSpeed(%d)",ID);
+ }
+ char data[2];
+ int ErrorCode = read(ID, REG_SPEED, 2, data);
+ return (short) (data[0] + (data[1]<<8));
+}
+
+int Servo::read(int ID, int start, int bytes, char* data)
+{
+
+ char PacketLength = 0x4;
+ char TxBuf[16];
+ char sum = 0;
+ char Status[16];
+
+ Status[4] = 0xFE; // return code
+
+ if (READ_DEBUG) {
+ pc.printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
+ }
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+ if (READ_DEBUG) {
+ pc.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
+ }
+
+ TxBuf[0] = 0xff;
+ TxBuf[1] = 0xff;
+
+ // ID
+ TxBuf[2] = ID;
+ sum += TxBuf[2];
+ if (READ_DEBUG) {
+ pc.printf(" ID : %d\n",TxBuf[2]);
+ }
+
+ // Packet Length
+ TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
+ sum += TxBuf[3]; // Accululate the packet sum
+ if (READ_DEBUG) {
+ pc.printf(" Length : 0x%x\n",TxBuf[3]);
+ }
+
+ // Instruction - Read
+ TxBuf[4] = 0x2;
+ sum += TxBuf[4];
+ if (READ_DEBUG) {
+ pc.printf(" Instruction : 0x%x\n",TxBuf[4]);
+ }
+
+ // Start Address
+ TxBuf[5] = start;
+ sum += TxBuf[5];
+ if (READ_DEBUG) {
+ pc.printf(" Start Address : 0x%x\n",TxBuf[5]);
+ }
+
+ // Bytes to read
+ TxBuf[6] = bytes;
+ sum += TxBuf[6];
+ if (READ_DEBUG) {
+ pc.printf(" No bytes : 0x%x\n",TxBuf[6]);
+ }
+
+ // Checksum
+ TxBuf[7] = 0xFF - sum;
+ if (READ_DEBUG) {
+ pc.printf(" Checksum : 0x%x\n",TxBuf[7]);
+ }
+
+ // Transmit the packet in one burst with no pausing
+ for (int i = 0; i<8 ; i++) {
+ _servo.putc(TxBuf[i]);
+ }
+
+ // Wait for data to transmit
+ wait_us(60); //was 60
+
+
+ // Skip if the read was to the broadcast address
+ if (ID != 0xFE) {
+ int timedout = 0;
+ int timeout_count = 0;
+ while(!_servo.readable()) {
+ timeout_count++;
+ if(timeout_count % 10000 == 0) {
+ timedout=1;
+ break;
+ }
+ }
+ if(timedout==1) {
+ read_timeout_counter++;
+ if(DEBUG)pc.printf(" Read timed out [%d of %d]\n",read_timeout_counter,READ_TIMEOUT_LIMIT);
+ if(read_timeout_counter >= READ_TIMEOUT_LIMIT){
+ read_timeout_counter = 0;
+ return 255;
+ }
+ return read(ID,start,bytes,data);
+ } else {
+ read_timeout_counter = 0;
+ // Receive the Status packet 6+ number of bytes read
+ for (int i=0; i<(6+bytes) ; i++) {
+ Status[i] = _servo.getc();
+ }
+
+ // Copy the data from Status into data for return
+ for (int i=0; i < Status[3]-2 ; i++) {
+ data[i] = Status[5+i];
+ }
+
+ if (READ_DEBUG) {
+ pc.printf("\nStatus Packet\n");
+ pc.printf(" Header : 0x%x\n",Status[0]);
+ pc.printf(" Header : 0x%x\n",Status[1]);
+ pc.printf(" ID : 0x%x\n",Status[2]);
+ pc.printf(" Length : 0x%x\n",Status[3]);
+ pc.printf(" Error Code : 0x%x\n",Status[4]);
+
+ for (int i=0; i < Status[3]-2 ; i++) {
+ pc.printf(" Data : 0x%x\n",Status[5+i]);
+ }
+
+ pc.printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
+ }
+
+ } // if (ID!=0xFE)
+ wait_us(5);
+ }
+ return(Status[4]);
+}
+
+
+int Servo:: write(int ID, int start, int bytes, char* data, int flag)
+{
+// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
+
+ char TxBuf[16];
+ char sum = 0;
+ char Status[6];
+
+ if (WRITE_DEBUG) {
+ pc.printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
+ }
+
+ // Build the TxPacket first in RAM, then we'll send in one go
+ if (WRITE_DEBUG) {
+ pc.printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
+ }
+
+ TxBuf[0] = 0xff;
+ TxBuf[1] = 0xff;
+
+ // ID
+ TxBuf[2] = ID;
+ sum += TxBuf[2];
+
+ if (WRITE_DEBUG) {
+ pc.printf(" ID : %d\n",TxBuf[2]);
+ }
+
+ // packet Length
+ TxBuf[3] = 3+bytes;
+ sum += TxBuf[3];
+
+ if (WRITE_DEBUG) {
+ pc.printf(" Length : %d\n",TxBuf[3]);
+ }
+
+ // Instruction
+ if (flag == 1) {
+ TxBuf[4]=0x04;
+ sum += TxBuf[4];
+ } else {
+ TxBuf[4]=0x03;
+ sum += TxBuf[4];
+ }
+
+ if (WRITE_DEBUG) {
+ pc.printf(" Instruction : 0x%x\n",TxBuf[4]);
+ }
+
+ // Start Address
+ TxBuf[5] = start;
+ sum += TxBuf[5];
+ if (WRITE_DEBUG) {
+ pc.printf(" Start : 0x%x\n",TxBuf[5]);
+ }
+
+ // data
+ for (char i=0; i<bytes ; i++) {
+ TxBuf[6+i] = data[i];
+ sum += TxBuf[6+i];
+ if (WRITE_DEBUG) {
+ pc.printf(" Data : 0x%x\n",TxBuf[6+i]);
+ }
+ }
+
+ // checksum
+ TxBuf[6+bytes] = 0xFF - sum;
+ if (WRITE_DEBUG) {
+ pc.printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
+ }
+
+ // Transmit the packet in one burst with no pausing
+ for (int i = 0; i < (7 + bytes) ; i++) {
+ _servo.putc(TxBuf[i]);
+ }
+
+ // Wait for data to transmit
+ wait_us(60);
+
+ // make sure we have a valid return
+ Status[4]=0x00;
+
+ // we'll only get a reply if it was not broadcast
+ if (ID!=0xFE) {
+ int timedout = 0;
+ int timeout_count = 0;
+ while(!_servo.readable()) {
+ timeout_count++;
+ if(timeout_count % 10000 == 0) {
+ timedout=1;
+ break;
+ }
+ }
+ if(timedout==1) {
+ read_timeout_counter++;
+ if(DEBUG)pc.printf(" Write ack. timed out [%d of %d]\n",read_timeout_counter,READ_TIMEOUT_LIMIT);
+ if(read_timeout_counter >= READ_TIMEOUT_LIMIT){
+ read_timeout_counter = 0;
+ return 255;
+ }
+ return write(ID,start,bytes,data,flag);
+ } else {
+ read_timeout_counter = 0;
+ // response is always 6 bytes
+ // 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
+ for (int i=0; i < 6 ; i++) {
+ Status[i] = _servo.getc();
+ }
+ }
+ // Build the TxPacket first in RAM, then we'll send in one go
+ if (WRITE_DEBUG) {
+ pc.printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
+ pc.printf(" ID : %d\n",Status[2]);
+ pc.printf(" Length : %d\n",Status[3]);
+ pc.printf(" Error : 0x%x\n",Status[4]);
+ pc.printf(" Checksum : 0x%x\n",Status[5]);
+ }
+
+
+ }
+
+ return(Status[4]); // return error code
+}
+
+//Set the baud rate for serial connection to something other than default(1000000)
+void Servo::SetInitBaud(int baud, int delaytime)
+{
+ pc.printf("Setting serial baud rate to %d\n",baud);
+ _servo.baud(baud);
+ delay = delaytime;
+}
+
+/* Additional copyright notice */
+
+/*
+ * 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.
+ */
+/*
+ * 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.
+ */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/servo.h Thu Feb 16 20:45:33 2017 +0000
@@ -0,0 +1,344 @@
+/* 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.
+ */
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