Dynamixel MX64 Servo

Revision 1:93ad80f5fde7, committed 2011-03-30

Comitter:

chris

Date:

Wed Mar 30 16:08:02 2011 +0000

Parent:

0:be51952765ec

Child:

2:5ea99c37a2d7

Commit message:

Changed in this revision

--- a/AX12.cpp	Thu Jun 03 14:22:25 2010 +0000
+++ b/AX12.cpp	Wed Mar 30 16:08:02 2011 +0000
@@ -24,7 +24,6 @@
 #include "AX12.h"
 #include "mbed.h"
 
-
 AX12::AX12(PinName tx, PinName rx, int ID)
         : _ax12(tx,rx) {
 
@@ -32,14 +31,57 @@
     _ID = ID;
 }
 
-// return 1 is the servo is still in flight
-int AX12::isMoving(void) {
+// Set the mode of the servo
+//  0 = Positional (0-300 degrees)
+//  1 = Rotational -1 to 1 speed
+int AX12::SetMode(int mode) {
+
+    if (mode == 1) { // set CR
+        SetCWLimit(0);
+        SetCCWLimit(0);
+        SetCRSpeed(0.0);
+    } else {
+        SetCWLimit(0);
+        SetCCWLimit(300);
+        SetCRSpeed(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 AX12::SetGoal(int degrees, int flags) {
 
-    char data[1];
-    read(_ID,AX12_REG_MOVING,1,data);
-    return(data[0]);
+    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;
+    }
+
+    // 1023 / 300 * degrees
+    short goal = (1023 * degrees) / 300;
+    if (AX12_DEBUG) {
+        printf("SetGoal to 0x%x\n",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, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
+
+    if (flags == 1) {
+        // block until it comes to a halt
+        while (isMoving()) {}
+    }
+    return(rVal);
 }
 
+
 // Set continuous rotation speed from -1 to 1
 int AX12::SetCRSpeed(float speed) {
 
@@ -63,44 +105,66 @@
     return(rVal);
 }
 
-// Set the mode of the servo
-//  0 = Positional (0-300 degrees)
-//  1 = Rotational -1 to 1 speed
-int AX12::SetMode(int mode) {
+
+int AX12::SetCWLimit (int degrees) {
+
+    char data[2];
+    
+    // 1023 / 300 * degrees
+    short limit = (1023 * degrees) / 300;
 
-    if (mode == 1) { // set CR
-        SetCWLimit(0);
-        SetCCWLimit(0);
-        SetCRSpeed(0.0);
-    } else {
-        SetCWLimit(0);
-        SetCCWLimit(300);
-        SetCRSpeed(0.0);
+    if (AX12_DEBUG) {
+        printf("SetCWLimit to 0x%x\n",limit);
     }
-    return(0);
+
+    data[0] = limit & 0xff; // bottom 8 bits
+    data[1] = limit >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
+
 }
 
-float AX12::GetTemp (void) {
+int AX12::SetCCWLimit (int degrees) {
+
+    char data[2];
+
+    // 1023 / 300 * degrees
+    short limit = (1023 * degrees) / 300;
 
     if (AX12_DEBUG) {
-        printf("\nGetTemp(%d)",_ID);
+        printf("SetCCWLimit to 0x%x\n",limit);
     }
-    char data[1];
-    int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
-    float temp = data[0];
-    return(temp);
+
+    data[0] = limit & 0xff; // bottom 8 bits
+    data[1] = limit >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
 }
 
-float AX12::GetVolts (void) {
-    if (AX12_DEBUG) {
-        printf("\nGetVolts(%d)",_ID);
-    }
+
+int AX12::SetID (int CurrentID, int NewID) {
+
     char data[1];
-    int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
-    float volts = data[0]/10.0;
-    return(volts);
+    data[0] = NewID;
+    if (AX12_DEBUG) {
+        printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
+    }
+    return (write(CurrentID, AX12_REG_ID, 1, data));
+
 }
 
+
+// return 1 is the servo is still in flight
+int AX12::isMoving(void) {
+
+    char data[1];
+    read(_ID,AX12_REG_MOVING,1,data);
+    return(data[0]);
+}
+
+
 void AX12::trigger(void) {
 
     char TxBuf[16];
@@ -150,47 +214,12 @@
     for (int i = 0; i < 6 ; i++) {
         _ax12.putc(TxBuf[i]);
     }
-    
+
     // This is a broadcast packet, so there will be no reply
 
     return;
 }
 
-int AX12::SetGoal(int degrees, int flags) {
-
-// if flag[0] is set, were blocking
-// if flag[1] is set, we're registering
-// they are mutually exclusive operations
-
-    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;
-    }
-
-    // 1023 / 300 * degrees
-    short goal = (1023 * degrees) / 300;
-    if (AX12_DEBUG) {
-        printf("SetGoal to 0x%x\n",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, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
-
-    if (flags == 1) {
-        // block until it comes to a halt
-        while (isMoving()) {}
-    }
-
-    return(rVal);
-
-}
 
 float AX12::GetPosition(void) {
 
@@ -207,52 +236,27 @@
     return (angle);
 }
 
-int AX12::SetCWLimit (int degrees) {
 
-    char data[2];
-
-    // 1023 / 300 * degrees
-    short limit = (1023 * degrees) / 300;
+float AX12::GetTemp (void) {
 
     if (AX12_DEBUG) {
-        printf("SetCWLimit to 0x%x\n",limit);
+        printf("\nGetTemp(%d)",_ID);
     }
-
-    data[0] = limit & 0xff; // bottom 8 bits
-    data[1] = limit >> 8;   // top 8 bits
-
-    // write the packet, return the error code
-    return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
-
+    char data[1];
+    int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
+    float temp = data[0];
+    return(temp);
 }
 
-int AX12::SetCCWLimit (int degrees) {
 
-    char data[2];
-
-    // 1023 / 300 * degrees
-    short limit = (1023 * degrees) / 300;
-
+float AX12::GetVolts (void) {
     if (AX12_DEBUG) {
-        printf("SetCCWLimit to 0x%x\n",limit);
+        printf("\nGetVolts(%d)",_ID);
     }
-
-    data[0] = limit & 0xff; // bottom 8 bits
-    data[1] = limit >> 8;   // top 8 bits
-
-    // write the packet, return the error code
-    return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
-}
-
-int AX12::SetID (int CurrentID, int NewID) {
-
     char data[1];
-    data[0] = NewID;
-    if (AX12_DEBUG) {
-        printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
-    }
-    return (write(CurrentID, AX12_REG_ID, 1, data));
-
+    int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
+    float volts = data[0]/10.0;
+    return(volts);
 }
 
 
@@ -359,11 +363,9 @@
     return(Status[4]);
 }
 
+
 int AX12:: write(int ID, int start, int bytes, char* data, int flag) {
-
-// number of bytes in packet
 // 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
-// 7 + bytes
 
     char TxBuf[16];
     char sum = 0;

--- a/AX12.h	Thu Jun 03 14:22:25 2010 +0000
+++ b/AX12.h	Wed Mar 30 16:08:02 2011 +0000
@@ -47,49 +47,116 @@
 #define AX12_CW 1
 #define AX12_CCW 0
 
+/** Servo control class, based on a PwmOut
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "AX12.h"
+ * 
+ * int main() {
+ * 
+ *   AX12 myax12 (p9, p10, 1);
+ *
+ *   while (1) {
+ *       myax12.SetGoal(0);    // go to 0 degrees
+ *       wait (2.0);
+ *       myax12.SetGoal(300);  // go to 300 degrees
+ *       wait (2.0);
+ *   }
+ * }
+ * @endcode
+ */
 class AX12 {
 
 public:
 
-    // define which pins are used, and the ID of this instance
-    // Mutiple AX12's can share the same pins.
+    /** Create an AX12 servo object connected to the specified serial port, with the specified ID
+     *
+     * @param pin tx pin
+     * @param pin rx pin 
+     * @param int ID, the Bus ID of the servo 1-255 
+     */
     AX12(PinName tx, PinName rx, int ID);
 
-    // methods for writing and reading registers
-    int read(int ID, int start, int length, char* data);
-    int write(int ID, int start, int length, char* data, int flag=0);
+    /** Set the mode of the servo
+     * @param mode
+     *    0 = Positional, default
+     *    1 = Continuous rotation
+     */
+    int SetMode(int mode);
 
-    // set goal angle in integer degrees
-    // flags[0] = blocking (only returns when goal reached
-    // flags[1] = register. Requires broadcast trigger to activate
+    /** Set goal angle in integer degrees, in positional mode
+     *
+     * @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 SetGoal(int degrees, int flags = 0);
 
-    // Mode = 0, positional
-    // Mode = 1, continuous rotation
-    int SetMode(int mode);
 
-    // Speed is -1.0 (CCW) to 1.0 (CW)
+    /** Set the speed of the servo in continuous rotation mode
+     *
+     * @param speed, -1.0 to 1.0
+     *   -1.0 = full speed counter clock wise
+     *    1.0 = full speed clock wise
+     */
     int SetCRSpeed(float speed);
 
-    // set these in degrees, CCW limit is 300
-    // If both are set to zero, we are continuous rotation
+
+    /** Set the clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
     int SetCWLimit(int degrees);
+    
+    /** Set the counter-clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
     int SetCCWLimit(int degrees);
 
     // Change the ID
+
+    /** 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);
 
-    // returns true if the motor is in motion
+
+    /** Poll to see if the servo is moving
+     *
+     * @returns true is the servo is moving
+     */
     int isMoving(void);
 
-    // broadcast to trigger registered goals
+    /** Send the broadcast "trigger" command, to activate any outstanding registered commands
+     */
     void trigger(void);
 
-    // Get current angle, only valid 0-300
+    /** Read the current angle of the servo
+     *
+     * @returns float in the range 0.0-300.0
+     */
     float GetPosition();
 
-    // In volts and ^C
+    /** Read the temperature of the servo
+     *
+     * @returns float temperature 
+     */
     float GetTemp(void);
+
+    /** Read the supply voltage of the servo
+     *
+     * @returns float voltage
+     */
     float GetVolts(void);
 
 private :
@@ -97,6 +164,9 @@
     SerialHalfDuplex _ax12;
     int _ID;
 
+    int read(int ID, int start, int length, char* data);
+    int write(int ID, int start, int length, char* data, int flag=0);
+
 };
 
 #endif