MX.h

00001 #ifndef MX_H
00002 #define MX_H
00003 
00004 #define MX_REG_ID 0x3
00005 #define MX_REG_CW_LIMIT 0x06
00006 #define MX_REG_CCW_LIMIT 0x08
00007 #define MX_REG_GOAL_POSITION 0x1E
00008 #define MX_REG_MOVING_SPEED 0x20
00009 #define MX_REG_VOLTS 0x2A
00010 #define MX_REG_AMPERE 0x44
00011 #define MX_REG_TEMP 0x2B
00012 #define MX_REG_PGAIN 0x1C
00013 #define MX_REG_IGAIN 0x1B
00014 #define MX_REG_DGAIN 0X1A
00015 #define MX_REG_MOVING 0x2E
00016 #define MX_REG_MAXTORQUE 0x22
00017 #define MX_REG_POSITION 0x24
00018 #define MX_RESOLUTION 0.088
00019 //bit per degrees 4095/360°
00020 #define MX_REG_MOTORONOFF 0x18
00021 #define MX_BIT_DEG 11.375
00022 #define MX_DEBUG 1
00023 #define MX_TRIGGER_DEBUG 1
00024 #define MX_REG_CURRENT 0x44
00025 #define MX_REG_TEMP 0x2B
00026 
00027 #define MX_READ_DEBUG 1
00028 #define AX12_WRITE_DEBUG 1
00029 #define AX12_READ_DEBUG 1
00030 #define AX12_TRIGGER_DEBUG 1
00031 #define AX12_DEBUG 1
00032 
00033 #define AX12_REG_ID 0x3
00034 #define AX12_REG_CW_LIMIT 0x06
00035 #define AX12_REG_CCW_LIMIT 0x08
00036 #define AX12_REG_GOAL_POSITION 0x1E
00037 #define AX12_REG_MOVING_SPEED 0x20
00038 #define AX12_REG_VOLTS 0x2A
00039 #define AX12_REG_TEMP 0x2B
00040 #define AX12_REG_MOVING 0x2E
00041 #define AX12_REG_POSITION 0x24
00042 #define AX12_REG_MAXTORQUE 0x22
00043 #define AX12_REG_MOTORONOFF 0x18
00044 #define AX12_MODE_POSITION  0
00045 #define AX12_MODE_ROTATION  1
00046 
00047 #define AX12_CW 1
00048 #define AX12_CCW 1
00049 #define goal_resolution 0.08789
00050 
00051 #define READ_DEBUG 1
00052 
00053 #include "Joint.h"
00054 
00055 // TODO: spostare i metodi uguali da MX106, MX64 in questo file e in MX.cpp. 
00056 
00057 class MX : public Joint
00058 {
00059 
00060   public:
00061     MX(communication_1& line, int ID, float gear_train);
00062     virtual ~MX();
00063     void setID(int newID);
00064     int getID();
00065 
00066     /** Set the mode of the servo
00067      * @param mode
00068      *    0 = Positional, default
00069      *    1 = Continuous rotation
00070      */
00071     virtual void setMode(int mode);
00072 
00073     void setCWLimitUnits(short limit);
00074     void setCCWLimitUnits(short limit);
00075 
00076     /** Set the clockwise limit of the servo
00077      *
00078      * @param degrees, 0-300
00079      */
00080     void setCWLimit(float degrees);
00081     /** Set the counter-clockwise limit of the servo
00082      *
00083      * @param degrees, 0-300
00084      */
00085     void setCCWLimit(float degrees);
00086 
00087     /** Set the speed of the servo in continuous rotation mode
00088      *
00089      * @param speed, -1.0 to 1.0
00090      *   -1.0 = full speed counter clock wise
00091      *    1.0 = full speed clock wise
00092      */
00093     //void setCRSpeed(float speed);
00094     //
00095     void setGoalPosition(float degrees);
00096     float getPosition();
00097 
00098     /** Set goal angle in integer degrees, in positional mode
00099      *
00100      * @param degrees 0-300
00101      * @param flags, defaults to 0
00102      *    flags[0] = blocking, return when goal position reached 
00103      *    flags[1] = register, activate with a broadcast trigger
00104      *
00105      */
00106     int setGoal(float degrees, int flags = 0);
00107     void setMaxSpeed(float degreeS);
00108     void setCRSpeed(float degreeS);
00109     void setSpeed(float degreeS);
00110     float getTemp();
00111     float getCurrent();
00112     float getVolts();
00113     virtual float getPGain();
00114     virtual float getIGain();
00115     virtual float getDGain();
00116     virtual void setPGain(float gain);
00117     virtual void setIGain(float gain);
00118     virtual void setDGain(float gain);
00119     void setMaxTorque(float torque);
00120     void setMotorEnabled(bool enabled);
00121     bool isMoving();
00122 
00123   protected:
00124     communication_1& _line;
00125     float _gear_train;
00126     int _ID;
00127     int _mode;
00128     float maxSpeedDegreeS;
00129     float limitCWDegrees;
00130     float limitCCWDegrees;;
00131 };
00132 
00133 #endif