CRAC Team
code ax12 petit robot 12/05/2017
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command_AX12_petit_robot_V3
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CRAC Team
AX12/AX12.h@7:ad4a19e26b84, 2017-05-12 (annotated)
- Committer:
- ClementBreteau
- Date:
- Fri May 12 14:35:09 2017 +0000
- Revision:
- 7:ad4a19e26b84
- Parent:
- 0:a2a44c043932
position ax12
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| mathieulegros | 0:a2a44c043932 | 1 | /* mbed AX-12+ Servo Library |
| mathieulegros | 0:a2a44c043932 | 2 | * |
| mathieulegros | 0:a2a44c043932 | 3 | * Copyright (c) 2010, cstyles (http://mbed.org) |
| mathieulegros | 0:a2a44c043932 | 4 | * |
| mathieulegros | 0:a2a44c043932 | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| mathieulegros | 0:a2a44c043932 | 6 | * of this software and associated documentation files (the "Software"), to deal |
| mathieulegros | 0:a2a44c043932 | 7 | * in the Software without restriction, including without limitation the rights |
| mathieulegros | 0:a2a44c043932 | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| mathieulegros | 0:a2a44c043932 | 9 | * copies of the Software, and to permit persons to whom the Software is |
| mathieulegros | 0:a2a44c043932 | 10 | * furnished to do so, subject to the following conditions: |
| mathieulegros | 0:a2a44c043932 | 11 | * |
| mathieulegros | 0:a2a44c043932 | 12 | * The above copyright notice and this permission notice shall be included in |
| mathieulegros | 0:a2a44c043932 | 13 | * all copies or substantial portions of the Software. |
| mathieulegros | 0:a2a44c043932 | 14 | * |
| mathieulegros | 0:a2a44c043932 | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| mathieulegros | 0:a2a44c043932 | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| mathieulegros | 0:a2a44c043932 | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| mathieulegros | 0:a2a44c043932 | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| mathieulegros | 0:a2a44c043932 | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| mathieulegros | 0:a2a44c043932 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| mathieulegros | 0:a2a44c043932 | 21 | * THE SOFTWARE. |
| mathieulegros | 0:a2a44c043932 | 22 | */ |
| mathieulegros | 0:a2a44c043932 | 23 | |
| mathieulegros | 0:a2a44c043932 | 24 | #ifndef MBED_AX12_H |
| mathieulegros | 0:a2a44c043932 | 25 | #define MBED_AX12_H |
| mathieulegros | 0:a2a44c043932 | 26 | #include "SerialHalfDuplex.h" |
| mathieulegros | 0:a2a44c043932 | 27 | #include "mbed.h" |
| mathieulegros | 0:a2a44c043932 | 28 | |
| mathieulegros | 0:a2a44c043932 | 29 | //#define AX12_WRITE_DEBUG 0 |
| ClementBreteau | 7:ad4a19e26b84 | 30 | //#define AX12_READ_DEBUG |
| mathieulegros | 0:a2a44c043932 | 31 | //#define AX12_TRIGGER_DEBUG 0 |
| ClementBreteau | 7:ad4a19e26b84 | 32 | //#define AX12_DEBUG 0 |
| mathieulegros | 0:a2a44c043932 | 33 | |
| mathieulegros | 0:a2a44c043932 | 34 | /****** à utiliser pour le debug !! ******/ |
| mathieulegros | 0:a2a44c043932 | 35 | |
| mathieulegros | 0:a2a44c043932 | 36 | //#define AX12_DEBUG_WRITE 0 |
| mathieulegros | 0:a2a44c043932 | 37 | //#define AX12_DEBUG_READ 0 |
| mathieulegros | 0:a2a44c043932 | 38 | |
| mathieulegros | 0:a2a44c043932 | 39 | /******************************************/ |
| mathieulegros | 0:a2a44c043932 | 40 | |
| mathieulegros | 0:a2a44c043932 | 41 | |
| mathieulegros | 0:a2a44c043932 | 42 | #define AX12_REG_ID 0x03 |
| mathieulegros | 0:a2a44c043932 | 43 | #define AX12_REG_BAUD 0x04 |
| mathieulegros | 0:a2a44c043932 | 44 | #define AX12_REG_DELAY_TIME 0x05 |
| mathieulegros | 0:a2a44c043932 | 45 | #define AX12_REG_CW_LIMIT 0x06 |
| mathieulegros | 0:a2a44c043932 | 46 | #define AX12_REG_CCW_LIMIT 0x08 |
| mathieulegros | 0:a2a44c043932 | 47 | #define AX12_REG_TEMP_MAX 0x0B |
| mathieulegros | 0:a2a44c043932 | 48 | #define AX12_REG_LOWEST_VOLTAGE 0x0C |
| mathieulegros | 0:a2a44c043932 | 49 | #define AX12_REG_HIGHEST_VOLTAGE 0x0D |
| mathieulegros | 0:a2a44c043932 | 50 | #define AX12_REG_MAX_TORQUE 0x0E |
| mathieulegros | 0:a2a44c043932 | 51 | #define AX12_REG_SATUS_RETURN 0x10 |
| mathieulegros | 0:a2a44c043932 | 52 | #define AX12_REG_ALARM_LED 0x11 |
| mathieulegros | 0:a2a44c043932 | 53 | #define AX12_REG_ALARM_SHUTDOWN 0x12 |
| mathieulegros | 0:a2a44c043932 | 54 | #define AX12_REG_DOWN_CALIBRATION 0x14 |
| mathieulegros | 0:a2a44c043932 | 55 | #define AX12_REG_UP_CALIBRATION 0x16 |
| mathieulegros | 0:a2a44c043932 | 56 | #define AX12_REG_TORQUE_ENABLE 0x18 |
| mathieulegros | 0:a2a44c043932 | 57 | #define AX12_REG_LED 0x19 |
| mathieulegros | 0:a2a44c043932 | 58 | #define AX12_REG_CW_MARGIN 0x1A |
| mathieulegros | 0:a2a44c043932 | 59 | #define AX12_REG_CCW_MARGIN 0x1B |
| mathieulegros | 0:a2a44c043932 | 60 | #define AX12_REG_CW_SLOPE 0x1C |
| mathieulegros | 0:a2a44c043932 | 61 | #define AX12_REG_CCW_SLOPE 0x1D |
| mathieulegros | 0:a2a44c043932 | 62 | #define AX12_REG_GOAL_POSITION 0x1E |
| mathieulegros | 0:a2a44c043932 | 63 | #define AX12_REG_MOVING_SPEED 0x20 |
| mathieulegros | 0:a2a44c043932 | 64 | #define AX12_REG_TORQUE_LIMIT 0x22 |
| mathieulegros | 0:a2a44c043932 | 65 | #define AX12_REG_POSITION 0x24 |
| mathieulegros | 0:a2a44c043932 | 66 | #define AX12_REG_PRESENT_SPEED 0x26 |
| mathieulegros | 0:a2a44c043932 | 67 | #define AX12_REG_PRESENT_LOAD 0x28 |
| mathieulegros | 0:a2a44c043932 | 68 | #define AX12_REG_VOLTS 0x2A |
| mathieulegros | 0:a2a44c043932 | 69 | #define AX12_REG_TEMP 0x2B |
| mathieulegros | 0:a2a44c043932 | 70 | #define AX12_REG_INSTRUCTION 0x2C |
| mathieulegros | 0:a2a44c043932 | 71 | #define AX12_REG_MOVING 0x2E |
| mathieulegros | 0:a2a44c043932 | 72 | #define AX12_REG_LOCK 0x2F |
| mathieulegros | 0:a2a44c043932 | 73 | #define AX12_REG_PUNCH 0x30 |
| mathieulegros | 0:a2a44c043932 | 74 | |
| mathieulegros | 0:a2a44c043932 | 75 | |
| mathieulegros | 0:a2a44c043932 | 76 | #define AX12_MODE_POSITION 0 |
| mathieulegros | 0:a2a44c043932 | 77 | #define AX12_MODE_ROTATION 1 |
| mathieulegros | 0:a2a44c043932 | 78 | |
| mathieulegros | 0:a2a44c043932 | 79 | #define AX12_CW 1 |
| mathieulegros | 0:a2a44c043932 | 80 | #define AX12_CCW 0 |
| mathieulegros | 0:a2a44c043932 | 81 | |
| mathieulegros | 0:a2a44c043932 | 82 | //--- Instruction --- |
| mathieulegros | 0:a2a44c043932 | 83 | #define INST_PING 0x01 |
| mathieulegros | 0:a2a44c043932 | 84 | #define INST_READ 0x02 |
| mathieulegros | 0:a2a44c043932 | 85 | #define INST_WRITE 0x03 |
| mathieulegros | 0:a2a44c043932 | 86 | #define INST_REG_WRITE 0x04 |
| mathieulegros | 0:a2a44c043932 | 87 | #define INST_ACTION 0x05 |
| mathieulegros | 0:a2a44c043932 | 88 | #define INST_RESET 0x06 |
| mathieulegros | 0:a2a44c043932 | 89 | #define INST_DIGITAL_RESET 0x07 |
| mathieulegros | 0:a2a44c043932 | 90 | #define INST_SYSTEM_READ 0x0C |
| mathieulegros | 0:a2a44c043932 | 91 | #define INST_SYSTEM_WRITE 0x0D |
| mathieulegros | 0:a2a44c043932 | 92 | #define INST_SYNC_WRITE 0x83 |
| mathieulegros | 0:a2a44c043932 | 93 | #define INST_SYNC_REG_WRITE 0x84 |
| mathieulegros | 0:a2a44c043932 | 94 | |
| mathieulegros | 0:a2a44c043932 | 95 | #define DEFAULT_RETURN_PACKET_SIZE 6 |
| mathieulegros | 0:a2a44c043932 | 96 | |
| mathieulegros | 0:a2a44c043932 | 97 | #define BROADCASTING_ID 0xfe |
| mathieulegros | 0:a2a44c043932 | 98 | |
| mathieulegros | 0:a2a44c043932 | 99 | /** Servo control class, based on a PwmOut |
| mathieulegros | 0:a2a44c043932 | 100 | * |
| mathieulegros | 0:a2a44c043932 | 101 | * Example: |
| mathieulegros | 0:a2a44c043932 | 102 | * @code |
| mathieulegros | 0:a2a44c043932 | 103 | * #include "mbed.h" |
| mathieulegros | 0:a2a44c043932 | 104 | * #include "AX12.h" |
| mathieulegros | 0:a2a44c043932 | 105 | * |
| mathieulegros | 0:a2a44c043932 | 106 | * int main() { |
| mathieulegros | 0:a2a44c043932 | 107 | * |
| mathieulegros | 0:a2a44c043932 | 108 | * AX12 myax12 (p9, p10, 1); |
| mathieulegros | 0:a2a44c043932 | 109 | * |
| mathieulegros | 0:a2a44c043932 | 110 | * while (1) { |
| mathieulegros | 0:a2a44c043932 | 111 | * myax12.SetGoal(0); // go to 0 degrees |
| mathieulegros | 0:a2a44c043932 | 112 | * wait (2.0); |
| mathieulegros | 0:a2a44c043932 | 113 | * myax12.SetGoal(300); // go to 300 degrees |
| mathieulegros | 0:a2a44c043932 | 114 | * wait (2.0); |
| mathieulegros | 0:a2a44c043932 | 115 | * } |
| mathieulegros | 0:a2a44c043932 | 116 | * } |
| mathieulegros | 0:a2a44c043932 | 117 | * @endcode |
| mathieulegros | 0:a2a44c043932 | 118 | */ |
| mathieulegros | 0:a2a44c043932 | 119 | class AX12 |
| mathieulegros | 0:a2a44c043932 | 120 | { |
| mathieulegros | 0:a2a44c043932 | 121 | |
| mathieulegros | 0:a2a44c043932 | 122 | public: |
| mathieulegros | 0:a2a44c043932 | 123 | |
| mathieulegros | 0:a2a44c043932 | 124 | /** Create an AX12 servo object connected to the specified serial port, with the specified ID |
| mathieulegros | 0:a2a44c043932 | 125 | * |
| mathieulegros | 0:a2a44c043932 | 126 | * @param pin tx pin |
| mathieulegros | 0:a2a44c043932 | 127 | * @param pin rx pin |
| mathieulegros | 0:a2a44c043932 | 128 | * @param int ID, the Bus ID of the servo 1-255 |
| mathieulegros | 0:a2a44c043932 | 129 | */ |
| mathieulegros | 0:a2a44c043932 | 130 | AX12(PinName tx, PinName rx, int ID, int baud=1000000); |
| mathieulegros | 0:a2a44c043932 | 131 | |
| mathieulegros | 0:a2a44c043932 | 132 | /** Nouvelle fonction de commande de position du servomoteur avec sécurité d'arriver à la bonne position |
| mathieulegros | 0:a2a44c043932 | 133 | Si une erreur se produit et que le servo ne recoit vraiment rien cette fonction dispose d'une sortie en timeout error; |
| mathieulegros | 0:a2a44c043932 | 134 | */ |
| mathieulegros | 0:a2a44c043932 | 135 | int Set_Secure_Goal(int degres); |
| mathieulegros | 0:a2a44c043932 | 136 | |
| mathieulegros | 0:a2a44c043932 | 137 | /** Retourne le temps d'attente avant l'envoi de la trame de retour par l'actionneur ( en micro seconde ) |
| mathieulegros | 0:a2a44c043932 | 138 | */ |
| mathieulegros | 0:a2a44c043932 | 139 | int Get_Return_Delay_Time(void); |
| mathieulegros | 0:a2a44c043932 | 140 | |
| mathieulegros | 0:a2a44c043932 | 141 | |
| mathieulegros | 0:a2a44c043932 | 142 | /** Retourne la vitesse de communication de l'actionneur ( en Bits/seconde ) |
| mathieulegros | 0:a2a44c043932 | 143 | */ |
| mathieulegros | 0:a2a44c043932 | 144 | int Get_Baud_Rate(void); |
| mathieulegros | 0:a2a44c043932 | 145 | |
| mathieulegros | 0:a2a44c043932 | 146 | |
| mathieulegros | 0:a2a44c043932 | 147 | /** Reglage du courant minimum necessaire au bon fonctionnement de l'actionneur |
| mathieulegros | 0:a2a44c043932 | 148 | // minimum >> Ox000 >> decimal 0 |
| mathieulegros | 0:a2a44c043932 | 149 | // maximum >> 0x3FF >> decimal 1023 |
| mathieulegros | 0:a2a44c043932 | 150 | // deflaut >> 0x20 >> decimal 32 |
| mathieulegros | 0:a2a44c043932 | 151 | */ |
| mathieulegros | 0:a2a44c043932 | 152 | int Set_Punch(int punch); |
| mathieulegros | 0:a2a44c043932 | 153 | |
| mathieulegros | 0:a2a44c043932 | 154 | |
| mathieulegros | 0:a2a44c043932 | 155 | /** Retourne le courant minimum au fonctionnement de l'actionneur |
| mathieulegros | 0:a2a44c043932 | 156 | */ |
| mathieulegros | 0:a2a44c043932 | 157 | int Get_Punch (void); |
| mathieulegros | 0:a2a44c043932 | 158 | |
| mathieulegros | 0:a2a44c043932 | 159 | |
| mathieulegros | 0:a2a44c043932 | 160 | /** Retourne l'ampleur de la charge sur l'actionneur |
| mathieulegros | 0:a2a44c043932 | 161 | */ |
| mathieulegros | 0:a2a44c043932 | 162 | int Get_Load_Value (void); |
| mathieulegros | 0:a2a44c043932 | 163 | |
| mathieulegros | 0:a2a44c043932 | 164 | void read_all_info(unsigned char, unsigned char); |
| mathieulegros | 0:a2a44c043932 | 165 | |
| mathieulegros | 0:a2a44c043932 | 166 | /** Reset |
| mathieulegros | 0:a2a44c043932 | 167 | */ |
| mathieulegros | 0:a2a44c043932 | 168 | int Reset(int); |
| mathieulegros | 0:a2a44c043932 | 169 | |
| mathieulegros | 0:a2a44c043932 | 170 | /** Retourne la direction de la charge sur l'actionneur |
| mathieulegros | 0:a2a44c043932 | 171 | */ |
| mathieulegros | 0:a2a44c043932 | 172 | int Get_Load_Direction (void); |
| mathieulegros | 0:a2a44c043932 | 173 | |
| mathieulegros | 0:a2a44c043932 | 174 | |
| mathieulegros | 0:a2a44c043932 | 175 | /** Retourne la vitesse angulaire actuelle de l'actionneur |
| mathieulegros | 0:a2a44c043932 | 176 | */ |
| mathieulegros | 0:a2a44c043932 | 177 | int Get_Present_Speed (void); |
| mathieulegros | 0:a2a44c043932 | 178 | |
| mathieulegros | 0:a2a44c043932 | 179 | |
| mathieulegros | 0:a2a44c043932 | 180 | /** Retourne la valeur en degres du registre CCW angle limit qui est l'angle limite maximum de l'actionneur |
| mathieulegros | 0:a2a44c043932 | 181 | */ |
| mathieulegros | 0:a2a44c043932 | 182 | int Get_CCW_Angle_Limit (void); |
| mathieulegros | 0:a2a44c043932 | 183 | |
| mathieulegros | 0:a2a44c043932 | 184 | |
| mathieulegros | 0:a2a44c043932 | 185 | /** Retourne la valeur en degres du registre CW angle limit qui est l'angle limite minimum de l'actionneur |
| mathieulegros | 0:a2a44c043932 | 186 | */ |
| mathieulegros | 0:a2a44c043932 | 187 | int Get_CW_Angle_Limit (void); |
| mathieulegros | 0:a2a44c043932 | 188 | |
| mathieulegros | 0:a2a44c043932 | 189 | |
| mathieulegros | 0:a2a44c043932 | 190 | /** Retourne la valeur du registre Torque Enable |
| mathieulegros | 0:a2a44c043932 | 191 | */ |
| mathieulegros | 0:a2a44c043932 | 192 | int Get_Torque_Enable(void); |
| mathieulegros | 0:a2a44c043932 | 193 | |
| mathieulegros | 0:a2a44c043932 | 194 | |
| mathieulegros | 0:a2a44c043932 | 195 | /** |
| mathieulegros | 0:a2a44c043932 | 196 | 1 >>> |
| mathieulegros | 0:a2a44c043932 | 197 | 0 >>> |
| mathieulegros | 0:a2a44c043932 | 198 | */ |
| mathieulegros | 0:a2a44c043932 | 199 | int Set_Torque_Enable(int etat); |
| mathieulegros | 0:a2a44c043932 | 200 | |
| mathieulegros | 0:a2a44c043932 | 201 | |
| mathieulegros | 0:a2a44c043932 | 202 | /** Retourne les données de compensation des différences entre les potentiomètres |
| mathieulegros | 0:a2a44c043932 | 203 | utilisés dans l'AX12 (Up) ???????? |
| mathieulegros | 0:a2a44c043932 | 204 | */ |
| mathieulegros | 0:a2a44c043932 | 205 | int Get_Up_Calibration (void); |
| mathieulegros | 0:a2a44c043932 | 206 | |
| mathieulegros | 0:a2a44c043932 | 207 | |
| mathieulegros | 0:a2a44c043932 | 208 | /** Retourne les données de compensation des différences entre les potentiomètres |
| mathieulegros | 0:a2a44c043932 | 209 | utilisés dans l'AX12 (Dowm) ???????? |
| mathieulegros | 0:a2a44c043932 | 210 | */ |
| mathieulegros | 0:a2a44c043932 | 211 | int Get_Down_Calibration(void); |
| mathieulegros | 0:a2a44c043932 | 212 | |
| mathieulegros | 0:a2a44c043932 | 213 | |
| mathieulegros | 0:a2a44c043932 | 214 | /** Retourne l'ID de l'AX_12 avec lequel on dialogue |
| mathieulegros | 0:a2a44c043932 | 215 | utile seulement dans le cas d'un broadcast ID |
| mathieulegros | 0:a2a44c043932 | 216 | */ |
| mathieulegros | 0:a2a44c043932 | 217 | int Get_ID(void); |
| mathieulegros | 0:a2a44c043932 | 218 | |
| mathieulegros | 0:a2a44c043932 | 219 | |
| mathieulegros | 0:a2a44c043932 | 220 | /** Reglage du couple maximum de l'actionneur |
| mathieulegros | 0:a2a44c043932 | 221 | // minimum >> Ox000 >> decimal 0 |
| mathieulegros | 0:a2a44c043932 | 222 | // maximum >> 0x3FF >> decimal 1023 |
| mathieulegros | 0:a2a44c043932 | 223 | // deflaut >> >> decimal |
| mathieulegros | 0:a2a44c043932 | 224 | */ |
| mathieulegros | 0:a2a44c043932 | 225 | int Set_Max_Torque(int torque); |
| mathieulegros | 0:a2a44c043932 | 226 | |
| mathieulegros | 0:a2a44c043932 | 227 | |
| mathieulegros | 0:a2a44c043932 | 228 | /** Reglage de la desactivation des actionneurs si une erreur le concernant se produit |
| mathieulegros | 0:a2a44c043932 | 229 | Bit Function |
| mathieulegros | 0:a2a44c043932 | 230 | Bit 7 0 |
| mathieulegros | 0:a2a44c043932 | 231 | Bit 6 If set to 1, torque off when an Instruction Error occurs |
| mathieulegros | 0:a2a44c043932 | 232 | Bit 5 If set to 1, torque off when an Overload Error occurs |
| mathieulegros | 0:a2a44c043932 | 233 | Bit 4 If set to 1, torque off when a Checksum Error occurs |
| mathieulegros | 0:a2a44c043932 | 234 | Bit 3 If set to 1, torque off when a Range Error occurs |
| mathieulegros | 0:a2a44c043932 | 235 | Bit 2 If set to 1, torque off when an Overheating Error occurs |
| mathieulegros | 0:a2a44c043932 | 236 | Bit 1 If set to 1, torque off when an Angle Limit Error occurs |
| mathieulegros | 0:a2a44c043932 | 237 | Bit 0 If set to 1, torque off when an Input Voltage Error occurs |
| mathieulegros | 0:a2a44c043932 | 238 | */ |
| mathieulegros | 0:a2a44c043932 | 239 | int Set_Alarm_Shutdown(int valeur); |
| mathieulegros | 0:a2a44c043932 | 240 | |
| mathieulegros | 0:a2a44c043932 | 241 | |
| mathieulegros | 0:a2a44c043932 | 242 | /** Reglage de l'activation de l'alarme |
| mathieulegros | 0:a2a44c043932 | 243 | Bit Function |
| mathieulegros | 0:a2a44c043932 | 244 | Bit 7 0 |
| mathieulegros | 0:a2a44c043932 | 245 | Bit 6 If set to 1, the LED blinks when an Instruction Error occurs |
| mathieulegros | 0:a2a44c043932 | 246 | Bit 5 If set to 1, the LED blinks when an Overload Error occurs |
| mathieulegros | 0:a2a44c043932 | 247 | Bit 4 If set to 1, the LED blinks when a Checksum Error occurs |
| mathieulegros | 0:a2a44c043932 | 248 | Bit 3 If set to 1, the LED blinks when a Range Error occurs |
| mathieulegros | 0:a2a44c043932 | 249 | Bit 2 If set to 1, the LED blinks when an Overheating Error occurs |
| mathieulegros | 0:a2a44c043932 | 250 | Bit 1 If set to 1, the LED blinks when an Angle Limit Error occurs |
| mathieulegros | 0:a2a44c043932 | 251 | Bit 0 If set to 1, the LED blinks when an Input Voltage Error occurs |
| mathieulegros | 0:a2a44c043932 | 252 | */ |
| mathieulegros | 0:a2a44c043932 | 253 | int Set_Alarm_LED(int valeur); |
| mathieulegros | 0:a2a44c043932 | 254 | |
| mathieulegros | 0:a2a44c043932 | 255 | |
| mathieulegros | 0:a2a44c043932 | 256 | /** Reglage de la réponse à une instruction |
| mathieulegros | 0:a2a44c043932 | 257 | * @param mode |
| mathieulegros | 0:a2a44c043932 | 258 | * 0 >> ne repond a aucune instructions |
| mathieulegros | 0:a2a44c043932 | 259 | * 1 >> repond seulement aux instructions READ_DATA |
| mathieulegros | 0:a2a44c043932 | 260 | * 2 >> repond à toutes les instructions |
| mathieulegros | 0:a2a44c043932 | 261 | */ |
| mathieulegros | 0:a2a44c043932 | 262 | int Set_Status_Return_Level(int etat); |
| mathieulegros | 0:a2a44c043932 | 263 | |
| mathieulegros | 0:a2a44c043932 | 264 | |
| mathieulegros | 0:a2a44c043932 | 265 | /** Reglage de la tension minimale |
| mathieulegros | 0:a2a44c043932 | 266 | * @param mode |
| mathieulegros | 0:a2a44c043932 | 267 | * minimum >> 0x32 >> decimal 50 |
| mathieulegros | 0:a2a44c043932 | 268 | * maximum >> 0xFA >> decimal 250 |
| mathieulegros | 0:a2a44c043932 | 269 | * deflaut >> 0x3C >> decimal 60 |
| mathieulegros | 0:a2a44c043932 | 270 | */ |
| mathieulegros | 0:a2a44c043932 | 271 | int Set_Lowest_Voltage(int val_lowest_voltage); |
| mathieulegros | 0:a2a44c043932 | 272 | |
| mathieulegros | 0:a2a44c043932 | 273 | |
| mathieulegros | 0:a2a44c043932 | 274 | /** Reglage de la tension maximale |
| mathieulegros | 0:a2a44c043932 | 275 | * @param mode |
| mathieulegros | 0:a2a44c043932 | 276 | * minimum >> Ox32 >> decimal 50 |
| mathieulegros | 0:a2a44c043932 | 277 | * maximum >> 0xFA >> decimal 250 |
| mathieulegros | 0:a2a44c043932 | 278 | * deflaut >> 0xBE >> decimal 190 |
| mathieulegros | 0:a2a44c043932 | 279 | */ |
| mathieulegros | 0:a2a44c043932 | 280 | int Set_Highest_Voltage(int val_highest_voltage); |
| mathieulegros | 0:a2a44c043932 | 281 | |
| mathieulegros | 0:a2a44c043932 | 282 | |
| mathieulegros | 0:a2a44c043932 | 283 | // Reglage du return time delay EN MICRO SECONDE 2uSec * val_delay_time |
| mathieulegros | 0:a2a44c043932 | 284 | // minimum >> 0 us |
| mathieulegros | 0:a2a44c043932 | 285 | // maximum >> 508 us |
| mathieulegros | 0:a2a44c043932 | 286 | // deflaut >> 125 us |
| mathieulegros | 0:a2a44c043932 | 287 | int Set_Delay_Time (int val_delay_time ); |
| mathieulegros | 0:a2a44c043932 | 288 | |
| mathieulegros | 0:a2a44c043932 | 289 | |
| mathieulegros | 0:a2a44c043932 | 290 | /** Set Highest Limit Temperature |
| mathieulegros | 0:a2a44c043932 | 291 | * @param mode |
| mathieulegros | 0:a2a44c043932 | 292 | * minimum >> Ox00 >> decimal 0 |
| mathieulegros | 0:a2a44c043932 | 293 | * maximum >> 0x96 >> decimal 150 |
| mathieulegros | 0:a2a44c043932 | 294 | */ |
| mathieulegros | 0:a2a44c043932 | 295 | int Set_Temperature_Max (int val_temperature ); |
| mathieulegros | 0:a2a44c043932 | 296 | |
| mathieulegros | 0:a2a44c043932 | 297 | |
| mathieulegros | 0:a2a44c043932 | 298 | |
| mathieulegros | 0:a2a44c043932 | 299 | /** Set the state of LED |
| mathieulegros | 0:a2a44c043932 | 300 | * @param mode |
| mathieulegros | 0:a2a44c043932 | 301 | * 0 = off, default |
| mathieulegros | 0:a2a44c043932 | 302 | * 1 = on |
| mathieulegros | 0:a2a44c043932 | 303 | */ |
| mathieulegros | 0:a2a44c043932 | 304 | int Set_Etat_LED(int etat); |
| mathieulegros | 0:a2a44c043932 | 305 | |
| mathieulegros | 0:a2a44c043932 | 306 | |
| mathieulegros | 0:a2a44c043932 | 307 | |
| mathieulegros | 0:a2a44c043932 | 308 | /** Set the mode of the servo |
| mathieulegros | 0:a2a44c043932 | 309 | * @param mode |
| mathieulegros | 0:a2a44c043932 | 310 | * 0 = Positional, default |
| mathieulegros | 0:a2a44c043932 | 311 | * 1 = Continuous rotation |
| mathieulegros | 0:a2a44c043932 | 312 | */ |
| mathieulegros | 0:a2a44c043932 | 313 | int Set_Mode(int mode); |
| mathieulegros | 0:a2a44c043932 | 314 | |
| mathieulegros | 0:a2a44c043932 | 315 | /** Set baud rate of all attached servos |
| mathieulegros | 0:a2a44c043932 | 316 | * @param mode |
| mathieulegros | 0:a2a44c043932 | 317 | * 0x01 = 1,000,000 bps |
| mathieulegros | 0:a2a44c043932 | 318 | * 0x03 = 500,000 bps |
| mathieulegros | 0:a2a44c043932 | 319 | * 0x04 = 400,000 bps |
| mathieulegros | 0:a2a44c043932 | 320 | * 0x07 = 250,000 bps |
| mathieulegros | 0:a2a44c043932 | 321 | * 0x09 = 200,000 bps |
| mathieulegros | 0:a2a44c043932 | 322 | * 0x10 = 115,200 bps |
| mathieulegros | 0:a2a44c043932 | 323 | * 0x22 = 57,600 bps |
| mathieulegros | 0:a2a44c043932 | 324 | * 0x67 = 19,200 bps |
| mathieulegros | 0:a2a44c043932 | 325 | * 0xCF = 9,600 bp |
| mathieulegros | 0:a2a44c043932 | 326 | */ |
| mathieulegros | 0:a2a44c043932 | 327 | int Set_Baud(int baud); |
| mathieulegros | 0:a2a44c043932 | 328 | |
| mathieulegros | 0:a2a44c043932 | 329 | |
| mathieulegros | 0:a2a44c043932 | 330 | /** Set goal angle in integer degrees, in positional mode |
| mathieulegros | 0:a2a44c043932 | 331 | * |
| mathieulegros | 0:a2a44c043932 | 332 | * @param degrees 0-300 |
| mathieulegros | 0:a2a44c043932 | 333 | * @param flags, defaults to 0 |
| mathieulegros | 0:a2a44c043932 | 334 | * flags[0] = blocking, return when goal position reached |
| mathieulegros | 0:a2a44c043932 | 335 | * flags[1] = register, activate with a broadcast trigger |
| mathieulegros | 0:a2a44c043932 | 336 | * |
| mathieulegros | 0:a2a44c043932 | 337 | */ |
| mathieulegros | 0:a2a44c043932 | 338 | int Set_Goal(int degrees, int flags = 0); |
| mathieulegros | 0:a2a44c043932 | 339 | |
| mathieulegros | 0:a2a44c043932 | 340 | int Set_Goal_speed(int degrees, int flags = 0); |
| mathieulegros | 0:a2a44c043932 | 341 | |
| mathieulegros | 0:a2a44c043932 | 342 | /** Set the speed of the servo in continuous rotation mode |
| mathieulegros | 0:a2a44c043932 | 343 | * |
| mathieulegros | 0:a2a44c043932 | 344 | * @param speed, -1.0 to 1.0 |
| mathieulegros | 0:a2a44c043932 | 345 | * -1.0 = full speed counter clock wise |
| mathieulegros | 0:a2a44c043932 | 346 | * 1.0 = full speed clock wise |
| mathieulegros | 0:a2a44c043932 | 347 | */ |
| mathieulegros | 0:a2a44c043932 | 348 | int Set_CR_Speed(float speed); |
| mathieulegros | 0:a2a44c043932 | 349 | |
| mathieulegros | 0:a2a44c043932 | 350 | |
| mathieulegros | 0:a2a44c043932 | 351 | /** Permet de définir l'angle limite minimum de l'actionneur ( prend une valeur d'entrée en degres ) |
| mathieulegros | 0:a2a44c043932 | 352 | // minimum >> 0° |
| mathieulegros | 0:a2a44c043932 | 353 | // maximum >> 300° |
| mathieulegros | 0:a2a44c043932 | 354 | // deflaut >> 0° |
| mathieulegros | 0:a2a44c043932 | 355 | */ |
| mathieulegros | 0:a2a44c043932 | 356 | int Set_CW_Angle_Limit(int degrees); |
| mathieulegros | 0:a2a44c043932 | 357 | |
| mathieulegros | 0:a2a44c043932 | 358 | /** Permet de définir l'angle limite maximum de l'actionneur ( prend une valeur d'entrée en degres ) |
| mathieulegros | 0:a2a44c043932 | 359 | // minimum >> 0° |
| mathieulegros | 0:a2a44c043932 | 360 | // maximum >> 300° |
| mathieulegros | 0:a2a44c043932 | 361 | // deflaut >> 300° |
| mathieulegros | 0:a2a44c043932 | 362 | */ |
| mathieulegros | 0:a2a44c043932 | 363 | int Set_CCW_Angle_Limit(int degrees); |
| mathieulegros | 0:a2a44c043932 | 364 | |
| mathieulegros | 0:a2a44c043932 | 365 | // Change the ID |
| mathieulegros | 0:a2a44c043932 | 366 | |
| mathieulegros | 0:a2a44c043932 | 367 | /** Change the ID of a servo |
| mathieulegros | 0:a2a44c043932 | 368 | * |
| mathieulegros | 0:a2a44c043932 | 369 | * @param CurentID 1-255 |
| mathieulegros | 0:a2a44c043932 | 370 | * @param NewID 1-255 |
| mathieulegros | 0:a2a44c043932 | 371 | * |
| mathieulegros | 0:a2a44c043932 | 372 | * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID. |
| mathieulegros | 0:a2a44c043932 | 373 | * In this situation, only one servo should be connected to the bus |
| mathieulegros | 0:a2a44c043932 | 374 | */ |
| mathieulegros | 0:a2a44c043932 | 375 | int Set_ID(int CurrentID, int NewID); |
| mathieulegros | 0:a2a44c043932 | 376 | |
| mathieulegros | 0:a2a44c043932 | 377 | |
| mathieulegros | 0:a2a44c043932 | 378 | /** Poll to see if the servo is moving |
| mathieulegros | 0:a2a44c043932 | 379 | * |
| mathieulegros | 0:a2a44c043932 | 380 | * @returns true is the servo is moving |
| mathieulegros | 0:a2a44c043932 | 381 | */ |
| mathieulegros | 0:a2a44c043932 | 382 | int isMoving(void); |
| mathieulegros | 0:a2a44c043932 | 383 | |
| mathieulegros | 0:a2a44c043932 | 384 | /** Send the broadcast "trigger" command, to activate any outstanding registered commands |
| mathieulegros | 0:a2a44c043932 | 385 | */ |
| mathieulegros | 0:a2a44c043932 | 386 | void trigger(void); |
| mathieulegros | 0:a2a44c043932 | 387 | |
| mathieulegros | 0:a2a44c043932 | 388 | /** Send the "reset" command, to activate any outstanding registered commands |
| mathieulegros | 0:a2a44c043932 | 389 | */ |
| mathieulegros | 0:a2a44c043932 | 390 | void reset(); |
| mathieulegros | 0:a2a44c043932 | 391 | |
| mathieulegros | 0:a2a44c043932 | 392 | /** Read the current angle of the servo |
| mathieulegros | 0:a2a44c043932 | 393 | * |
| mathieulegros | 0:a2a44c043932 | 394 | * @returns float in the range 0.0-300.0 |
| mathieulegros | 0:a2a44c043932 | 395 | */ |
| mathieulegros | 0:a2a44c043932 | 396 | float Get_Position(); |
| mathieulegros | 0:a2a44c043932 | 397 | |
| mathieulegros | 0:a2a44c043932 | 398 | /** Read the temperature of the servo |
| mathieulegros | 0:a2a44c043932 | 399 | * |
| mathieulegros | 0:a2a44c043932 | 400 | * @returns float temperature |
| mathieulegros | 0:a2a44c043932 | 401 | */ |
| mathieulegros | 0:a2a44c043932 | 402 | float Get_Temp(void); |
| mathieulegros | 0:a2a44c043932 | 403 | |
| mathieulegros | 0:a2a44c043932 | 404 | /** Read the supply voltage of the servo |
| mathieulegros | 0:a2a44c043932 | 405 | * |
| mathieulegros | 0:a2a44c043932 | 406 | * @returns float voltage |
| mathieulegros | 0:a2a44c043932 | 407 | */ |
| mathieulegros | 0:a2a44c043932 | 408 | float Get_Volts(void); |
| mathieulegros | 0:a2a44c043932 | 409 | |
| mathieulegros | 0:a2a44c043932 | 410 | // Lecture du couple maximum ( retourne la valeur du registre Max Torque de l'AX12 ) |
| mathieulegros | 0:a2a44c043932 | 411 | int Get_Max_Torque (void); |
| mathieulegros | 0:a2a44c043932 | 412 | |
| mathieulegros | 0:a2a44c043932 | 413 | |
| mathieulegros | 0:a2a44c043932 | 414 | int read(int ID, int start, int length, char* data); |
| mathieulegros | 0:a2a44c043932 | 415 | int write(int ID, int start, int length, char* data, int flag=0); |
| mathieulegros | 0:a2a44c043932 | 416 | void multiple_goal_and_speed(int number_ax12,char* tab); |
| mathieulegros | 0:a2a44c043932 | 417 | float read_and_test(float angle,char* Tab); |
| mathieulegros | 0:a2a44c043932 | 418 | |
| mathieulegros | 0:a2a44c043932 | 419 | private : |
| mathieulegros | 0:a2a44c043932 | 420 | |
| mathieulegros | 0:a2a44c043932 | 421 | SerialHalfDuplex _ax12; |
| mathieulegros | 0:a2a44c043932 | 422 | int _ID; |
| mathieulegros | 0:a2a44c043932 | 423 | int _baud; |
| mathieulegros | 0:a2a44c043932 | 424 | |
| mathieulegros | 0:a2a44c043932 | 425 | |
| mathieulegros | 0:a2a44c043932 | 426 | }; |
| mathieulegros | 0:a2a44c043932 | 427 | |
| mathieulegros | 0:a2a44c043932 | 428 | #endif |