Team DIANA / dynamixel

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Dependencies:   AX12_final MX106_not_working comunication_1 mbed-dev

Fork of MX106-finaltest by Team DIANA

MX.h@12:6ac3cac5677c, 2016-11-24 (annotated)

Committer:
clynamen
Date:
Thu Nov 24 15:29:50 2016 +0000
Revision:
12:6ac3cac5677c
Parent:
11:19e8022f60ea 
dynamixel

Who changed what in which revision?

UserRevisionLine numberNew contents of line
clynamen 10:2acfa1a84c96 1 #ifndef MX_H
clynamen 10:2acfa1a84c96 2 #define MX_H
clynamen 10:2acfa1a84c96 3
clynamen 10:2acfa1a84c96 4 #define MX_REG_ID 0x3
clynamen 10:2acfa1a84c96 5 #define MX_REG_CW_LIMIT 0x06
clynamen 10:2acfa1a84c96 6 #define MX_REG_CCW_LIMIT 0x08
clynamen 10:2acfa1a84c96 7 #define MX_REG_GOAL_POSITION 0x1E
clynamen 10:2acfa1a84c96 8 #define MX_REG_MOVING_SPEED 0x20
clynamen 10:2acfa1a84c96 9 #define MX_REG_VOLTS 0x2A
clynamen 10:2acfa1a84c96 10 #define MX_REG_AMPERE 0x44
clynamen 10:2acfa1a84c96 11 #define MX_REG_TEMP 0x2B
clynamen 10:2acfa1a84c96 12 #define MX_REG_PGAIN 0x1C
clynamen 10:2acfa1a84c96 13 #define MX_REG_IGAIN 0x1B
clynamen 10:2acfa1a84c96 14 #define MX_REG_DGAIN 0X1A
clynamen 10:2acfa1a84c96 15 #define MX_REG_MOVING 0x2E
clynamen 10:2acfa1a84c96 16 #define MX_REG_MAXTORQUE 0x22
clynamen 10:2acfa1a84c96 17 #define MX_REG_POSITION 0x24
clynamen 10:2acfa1a84c96 18 #define MX_RESOLUTION 0.088
clynamen 10:2acfa1a84c96 19 //bit per degrees 4095/360°
clynamen 10:2acfa1a84c96 20 #define MX_REG_MOTORONOFF 0x18
clynamen 10:2acfa1a84c96 21 #define MX_BIT_DEG 11.375
clynamen 10:2acfa1a84c96 22 #define MX_DEBUG 1
clynamen 10:2acfa1a84c96 23 #define MX_TRIGGER_DEBUG 1
clynamen 10:2acfa1a84c96 24 #define MX_REG_CURRENT 0x44
clynamen 10:2acfa1a84c96 25 #define MX_REG_TEMP 0x2B
clynamen 10:2acfa1a84c96 26
clynamen 10:2acfa1a84c96 27 #define MX_READ_DEBUG 1
clynamen 10:2acfa1a84c96 28 #define AX12_WRITE_DEBUG 1
clynamen 10:2acfa1a84c96 29 #define AX12_READ_DEBUG 1
clynamen 10:2acfa1a84c96 30 #define AX12_TRIGGER_DEBUG 1
clynamen 10:2acfa1a84c96 31 #define AX12_DEBUG 1
clynamen 10:2acfa1a84c96 32
clynamen 10:2acfa1a84c96 33 #define AX12_REG_ID 0x3
clynamen 10:2acfa1a84c96 34 #define AX12_REG_CW_LIMIT 0x06
clynamen 10:2acfa1a84c96 35 #define AX12_REG_CCW_LIMIT 0x08
clynamen 10:2acfa1a84c96 36 #define AX12_REG_GOAL_POSITION 0x1E
clynamen 10:2acfa1a84c96 37 #define AX12_REG_MOVING_SPEED 0x20
clynamen 10:2acfa1a84c96 38 #define AX12_REG_VOLTS 0x2A
clynamen 10:2acfa1a84c96 39 #define AX12_REG_TEMP 0x2B
clynamen 10:2acfa1a84c96 40 #define AX12_REG_MOVING 0x2E
clynamen 10:2acfa1a84c96 41 #define AX12_REG_POSITION 0x24
clynamen 10:2acfa1a84c96 42 #define AX12_REG_MAXTORQUE 0x22
clynamen 10:2acfa1a84c96 43 #define AX12_REG_MOTORONOFF 0x18
clynamen 10:2acfa1a84c96 44 #define AX12_MODE_POSITION 0
clynamen 10:2acfa1a84c96 45 #define AX12_MODE_ROTATION 1
clynamen 10:2acfa1a84c96 46
clynamen 10:2acfa1a84c96 47 #define AX12_CW 1
clynamen 10:2acfa1a84c96 48 #define AX12_CCW 1
clynamen 10:2acfa1a84c96 49 #define goal_resolution 0.08789
clynamen 10:2acfa1a84c96 50
clynamen 10:2acfa1a84c96 51 #define READ_DEBUG 1
clynamen 10:2acfa1a84c96 52
clynamen 10:2acfa1a84c96 53 #include "Joint.h"
clynamen 10:2acfa1a84c96 54
clynamen 10:2acfa1a84c96 55 // TODO: spostare i metodi uguali da MX106, MX64 in questo file e in MX.cpp.
clynamen 10:2acfa1a84c96 56
clynamen 10:2acfa1a84c96 57 class MX : public Joint
clynamen 10:2acfa1a84c96 58 {
clynamen 10:2acfa1a84c96 59
clynamen 10:2acfa1a84c96 60 public:
clynamen 10:2acfa1a84c96 61 MX(communication_1& line, int ID, float gear_train);
clynamen 10:2acfa1a84c96 62 virtual ~MX();
clynamen 10:2acfa1a84c96 63 void setID(int newID);
clynamen 11:19e8022f60ea 64 int getID();
clynamen 10:2acfa1a84c96 65
clynamen 10:2acfa1a84c96 66 /** Set the mode of the servo
clynamen 10:2acfa1a84c96 67 * @param mode
clynamen 10:2acfa1a84c96 68 * 0 = Positional, default
clynamen 10:2acfa1a84c96 69 * 1 = Continuous rotation
clynamen 10:2acfa1a84c96 70 */
clynamen 11:19e8022f60ea 71 virtual void setMode(int mode);
clynamen 11:19e8022f60ea 72
clynamen 11:19e8022f60ea 73 void setCWLimitUnits(short limit);
clynamen 11:19e8022f60ea 74 void setCCWLimitUnits(short limit);
clynamen 11:19e8022f60ea 75
clynamen 10:2acfa1a84c96 76 /** Set the clockwise limit of the servo
clynamen 10:2acfa1a84c96 77 *
clynamen 10:2acfa1a84c96 78 * @param degrees, 0-300
clynamen 10:2acfa1a84c96 79 */
clynamen 10:2acfa1a84c96 80 void setCWLimit(float degrees);
clynamen 10:2acfa1a84c96 81 /** Set the counter-clockwise limit of the servo
clynamen 10:2acfa1a84c96 82 *
clynamen 10:2acfa1a84c96 83 * @param degrees, 0-300
clynamen 10:2acfa1a84c96 84 */
clynamen 10:2acfa1a84c96 85 void setCCWLimit(float degrees);
clynamen 11:19e8022f60ea 86
clynamen 10:2acfa1a84c96 87 /** Set the speed of the servo in continuous rotation mode
clynamen 10:2acfa1a84c96 88 *
clynamen 10:2acfa1a84c96 89 * @param speed, -1.0 to 1.0
clynamen 10:2acfa1a84c96 90 * -1.0 = full speed counter clock wise
clynamen 10:2acfa1a84c96 91 * 1.0 = full speed clock wise
clynamen 10:2acfa1a84c96 92 */
clynamen 11:19e8022f60ea 93 //void setCRSpeed(float speed);
clynamen 11:19e8022f60ea 94 //
clynamen 10:2acfa1a84c96 95 void setGoalPosition(float degrees);
clynamen 10:2acfa1a84c96 96 float getPosition();
clynamen 10:2acfa1a84c96 97
clynamen 10:2acfa1a84c96 98 /** Set goal angle in integer degrees, in positional mode
clynamen 10:2acfa1a84c96 99 *
clynamen 10:2acfa1a84c96 100 * @param degrees 0-300
clynamen 10:2acfa1a84c96 101 * @param flags, defaults to 0
clynamen 10:2acfa1a84c96 102 * flags[0] = blocking, return when goal position reached
clynamen 10:2acfa1a84c96 103 * flags[1] = register, activate with a broadcast trigger
clynamen 10:2acfa1a84c96 104 *
clynamen 10:2acfa1a84c96 105 */
clynamen 10:2acfa1a84c96 106 int setGoal(float degrees, int flags = 0);
clynamen 11:19e8022f60ea 107 void setMaxSpeed(float degreeS);
clynamen 11:19e8022f60ea 108 void setCRSpeed(float degreeS);
clynamen 11:19e8022f60ea 109 void setSpeed(float degreeS);
clynamen 10:2acfa1a84c96 110 float getTemp();
clynamen 10:2acfa1a84c96 111 float getCurrent();
clynamen 10:2acfa1a84c96 112 float getVolts();
clynamen 11:19e8022f60ea 113 virtual float getPGain();
clynamen 11:19e8022f60ea 114 virtual float getIGain();
clynamen 11:19e8022f60ea 115 virtual float getDGain();
clynamen 11:19e8022f60ea 116 virtual void setPGain(float gain);
clynamen 11:19e8022f60ea 117 virtual void setIGain(float gain);
clynamen 11:19e8022f60ea 118 virtual void setDGain(float gain);
clynamen 10:2acfa1a84c96 119 void setMaxTorque(float torque);
clynamen 10:2acfa1a84c96 120 void setMotorEnabled(bool enabled);
clynamen 10:2acfa1a84c96 121 bool isMoving();
clynamen 10:2acfa1a84c96 122
clynamen 10:2acfa1a84c96 123 protected:
clynamen 10:2acfa1a84c96 124 communication_1& _line;
clynamen 10:2acfa1a84c96 125 float _gear_train;
clynamen 10:2acfa1a84c96 126 int _ID;
clynamen 10:2acfa1a84c96 127 int _mode;
clynamen 11:19e8022f60ea 128 float maxSpeedDegreeS;
clynamen 11:19e8022f60ea 129 float limitCWDegrees;
clynamen 11:19e8022f60ea 130 float limitCCWDegrees;;
clynamen 10:2acfa1a84c96 131 };
clynamen 10:2acfa1a84c96 132
clynamen 10:2acfa1a84c96 133 #endif