191 lines
4.8 KiB
C++
191 lines
4.8 KiB
C++
/* mbed AX-12+ Servo Library
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*
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* Copyright (c) 2010, cstyles (http://mbed.org)
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#ifndef MBED_AX12_H
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#define MBED_AX12_H
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#include "mbed.h"
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#define AX12_WRITE_DEBUG 1
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#define AX12_READ_DEBUG 1
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#define AX12_TRIGGER_DEBUG 1
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#define AX12_DEBUG 1
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#define AX12_REG_ID 0x3
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#define AX12_REG_BAUD 0x4
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#define AX12_REG_CW_LIMIT 0x06
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#define AX12_REG_CCW_LIMIT 0x08
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#define AX12_REG_GOAL_POSITION 0x1E
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#define AX12_REG_MOVING_SPEED 0x20
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#define AX12_REG_VOLTS 0x2A
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#define AX12_REG_TEMP 0x2B
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#define AX12_REG_MOVING 0x2E
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#define AX12_REG_POSITION 0x24
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#define AX12_MODE_POSITION 0
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#define AX12_MODE_ROTATION 1
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#define AX12_CW 1
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#define AX12_CCW 0
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/** Servo control class, based on a PwmOut
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*
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* Example:
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* @code
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* #include "mbed.h"
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* #include "AX12.h"
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*
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* int main() {
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*
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* AX12 myax12 (p9, p10, 1);
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*
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* while (1) {
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* myax12.SetGoal(0); // go to 0 degrees
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* wait (2.0);
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* myax12.SetGoal(300); // go to 300 degrees
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* wait (2.0);
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* }
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* }
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* @endcode
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*/
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class AX12 {
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public:
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/** Create an AX12 servo object connected to the specified serial port, with the specified ID
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*
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* @param pin tx pin
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* @param pin rx pin
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* @param int ID, the Bus ID of the servo 1-255
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*/
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AX12(PinName tx, PinName rx, int ID, int baud=1000000);
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/** Set the mode of the servo
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* @param mode
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* 0 = Positional, default
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* 1 = Continuous rotation
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*/
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int SetMode(int mode);
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/** Set baud rate of all attached servos
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* @param mode
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* 0x01 = 1,000,000 bps
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* 0x03 = 500,000 bps
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* 0x04 = 400,000 bps
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* 0x07 = 250,000 bps
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* 0x09 = 200,000 bps
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* 0x10 = 115,200 bps
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* 0x22 = 57,600 bps
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* 0x67 = 19,200 bps
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* 0xCF = 9,600 bp
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*/
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int SetBaud(int baud);
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/** Set goal angle in integer degrees, in positional mode
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*
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* @param degrees 0-300
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* @param flags, defaults to 0
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* flags[0] = blocking, return when goal position reached
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* flags[1] = register, activate with a broadcast trigger
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*
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*/
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int SetGoal(int degrees, int flags = 0);
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/** Set the speed of the servo in continuous rotation mode
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*
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* @param speed, -1.0 to 1.0
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* -1.0 = full speed counter clock wise
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* 1.0 = full speed clock wise
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*/
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int SetCRSpeed(float speed);
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/** Set the clockwise limit of the servo
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*
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* @param degrees, 0-300
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*/
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int SetCWLimit(int degrees);
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/** Set the counter-clockwise limit of the servo
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*
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* @param degrees, 0-300
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*/
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int SetCCWLimit(int degrees);
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// Change the ID
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/** Change the ID of a servo
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*
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* @param CurentID 1-255
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* @param NewID 1-255
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*
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* If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
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* In this situation, only one servo should be connected to the bus
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*/
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int SetID(int CurrentID, int NewID);
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/** Poll to see if the servo is moving
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*
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* @returns true is the servo is moving
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*/
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int isMoving(void);
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/** Send the broadcast "trigger" command, to activate any outstanding registered commands
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*/
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void trigger(void);
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/** Read the current angle of the servo
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*
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* @returns float in the range 0.0-300.0
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*/
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float GetPosition();
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/** Read the temperature of the servo
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*
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* @returns float temperature
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*/
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float GetTemp(void);
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/** Read the supply voltage of the servo
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*
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* @returns float voltage
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*/
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float GetVolts(void);
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int read(int ID, int start, int length, char* data);
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int write(int ID, int start, int length, char* data, int flag=0);
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private :
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SerialHalfDuplex _ax12;
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int _ID;
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int _baud;
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};
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#endif
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