dynamixel protocol engine
Fork of Dynamixel by
Revision 4:fe2a6b66cb85, committed 2016-01-23
- Comitter:
- henryrawas
- Date:
- Sat Jan 23 00:08:13 2016 +0000
- Parent:
- 3:37aa8024931e
- Commit message:
- refactor
Changed in this revision
DynamixelBus.cpp | Show annotated file Show diff for this revision Revisions of this file |
DynamixelBus.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/DynamixelBus.cpp Tue Jan 19 19:53:15 2016 +0000 +++ b/DynamixelBus.cpp Sat Jan 23 00:08:13 2016 +0000 @@ -1,11 +1,24 @@ -/* -Copyright (c) 2015 Jonathan Pickett (& Schakra, & Microsoft). Some appropriate open source license. -*/ - +/* Copyright (C) 2016 Schakra Inc, MIT License + * + * 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. + */ + #include <mbed.h> #include "DynamixelBus.h" -/*****/ DynamixelBus::DynamixelBus( PinName txUartPin, PinName rxUartPin, PinName txSelectPin, PinName rxSelectPin, int baud ) : _uart( txUartPin, rxUartPin), _txSelect(txSelectPin, 0), _rxSelect(rxSelectPin, 0) { @@ -15,56 +28,48 @@ _replyDelay = .0012; } -/*****/ StatusCode DynamixelBus::Ping( ServoId id ) { return send_ping( id ); } -/*****/ StatusCode DynamixelBus::Read( ServoId id, unsigned char controlTableStart, unsigned char bytesToRead, CommBuffer& data ) { return send_read( id, controlTableStart, bytesToRead, data ); } -/*****/ StatusCode DynamixelBus::Write( ServoId id, unsigned char controlTableStart, const CommBuffer& dataToWrite ) { return send_write( id, controlTableStart, dataToWrite ); } -/*****/ StatusCode DynamixelBus::WriteAction( ServoId id, unsigned char start, const CommBuffer& dataToWrite ) { return 0; } -/*****/ void DynamixelBus::TriggerAction( ServoId id ) { return; } -/*****/ StatusCode DynamixelBus::HardReset( ServoId id ) { return 0; } -/*****/ StatusCode DynamixelBus::SyncWrite( unsigned char controlTableStart, unsigned char bytesToWrite, vector<SyncIdDataPair>& data ) { return 0; } -/*****/ unsigned char DynamixelBus::CalculateTxPacketChecksum( CommBuffer& packet ) { @@ -82,7 +87,6 @@ return (~sum & 0xFF); // AX-12 reference manual p. 10, Section 3-2 } -/*****/ // pings a servo at a specified ID // @@ -159,7 +163,6 @@ } } -/*****/ StatusCode DynamixelBus::send_read( ServoId id, unsigned char controlTableStart, unsigned char bytesToRead, CommBuffer& data ) { @@ -234,7 +237,6 @@ } } -/*****/ StatusCode DynamixelBus::send_write( ServoId id, unsigned char controlTableStart, const CommBuffer& dataToWrite ) {
--- a/DynamixelBus.h Tue Jan 19 19:53:15 2016 +0000 +++ b/DynamixelBus.h Sat Jan 23 00:08:13 2016 +0000 @@ -1,6 +1,21 @@ -/* -Copyright (c) 2015 Jonathan Pickett & Microsoft. Some appropriate open source license. -*/ +/* Copyright (C) 2016 Schakra Inc, MIT License + * + * 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. + */ + #ifndef __DYNAMIXEL_BUS_H__ #define __DYNAMIXEL_BUS_H__