Telesensorics / AX-12A

Provides an interface to an AX-12A servo. Requires the Dynamixel bus protocol library

Dependents:   RobotArmDemo

Fork of AX-12A by robot arm demo team

AX12.h@15:d3af28192fff, 2016-02-04 (annotated)

Committer:
henryrawas
Date:
Thu Feb 04 20:09:39 2016 +0000
Revision:
15:d3af28192fff
Parent:
14:9afd50c38c80 
update copyright

Who changed what in which revision?

UserRevisionLine numberNew contents of line
henryrawas 15:d3af28192fff 1 /* Copyright (C) 2016 Telesensorics Inc, MIT License
jepickett 0:1a48094c99d1 2 *
jepickett 0:1a48094c99d1 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
jepickett 0:1a48094c99d1 4 * and associated documentation files (the "Software"), to deal in the Software without restriction,
jepickett 0:1a48094c99d1 5 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
jepickett 0:1a48094c99d1 6 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
jepickett 0:1a48094c99d1 7 * furnished to do so, subject to the following conditions:
jepickett 0:1a48094c99d1 8 *
jepickett 0:1a48094c99d1 9 * The above copyright notice and this permission notice shall be included in all copies or
jepickett 0:1a48094c99d1 10 * substantial portions of the Software.
jepickett 0:1a48094c99d1 11 *
jepickett 0:1a48094c99d1 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
jepickett 0:1a48094c99d1 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
jepickett 0:1a48094c99d1 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
jepickett 0:1a48094c99d1 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jepickett 0:1a48094c99d1 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
jepickett 0:1a48094c99d1 17 */
jepickett 0:1a48094c99d1 18
jepickett 0:1a48094c99d1 19 #ifndef MBED_AX12_H
jepickett 0:1a48094c99d1 20 #define MBED_AX12_H
jepickett 0:1a48094c99d1 21
jepickett 0:1a48094c99d1 22 #include "mbed.h"
jepickett 0:1a48094c99d1 23 #include "DynamixelBus.h"
henryrawas 12:f66c779ca018 24
jepickett 0:1a48094c99d1 25
jepickett 0:1a48094c99d1 26 enum ControlTable
jepickett 0:1a48094c99d1 27 {
jepickett 1:d7642b2e155d 28 ctModelNumberLow = 0, // RD
jepickett 1:d7642b2e155d 29 ctModelNumberHigh = 1, // RD
jepickett 1:d7642b2e155d 30 ctFirmwareVersion = 2, // RD
jepickett 1:d7642b2e155d 31 ctID = 3, // RD/WR
jepickett 1:d7642b2e155d 32 ctBaudRate = 4, // RD/WR
jepickett 1:d7642b2e155d 33 ctReturnDelayTime = 5, // RD/WR
jepickett 1:d7642b2e155d 34 ctCWAngleLimitL = 6, // RD/WR
jepickett 1:d7642b2e155d 35 ctCWAngleLimitH = 7, // RD/WR
jepickett 1:d7642b2e155d 36 ctCCWAngleLimitL = 8, // RD/WR
jepickett 1:d7642b2e155d 37 ctCCWAngleLimitH = 9, // RD/WR
jepickett 1:d7642b2e155d 38 ctReserved1 = 10,
jepickett 1:d7642b2e155d 39 ctTemperatureLimit = 11, // RD/WR
jepickett 1:d7642b2e155d 40 ctVoltageLow = 12, // RD/WR
jepickett 1:d7642b2e155d 41 ctVoltageHigh = 13, // RD/WR
jepickett 1:d7642b2e155d 42 ctMaxTorqueL = 14, // RD/WR
jepickett 1:d7642b2e155d 43 ctMaxTorqueH = 15, // RD/WR
jepickett 1:d7642b2e155d 44 ctStatusReturnLevel = 16, // RD/WR
jepickett 1:d7642b2e155d 45 ctAlarmLED = 17, // RD/WR
jepickett 1:d7642b2e155d 46 ctAlarmShutdown = 18, // RD/WR
jepickett 1:d7642b2e155d 47 ctReserved2 = 19,
jepickett 1:d7642b2e155d 48 ctDownCalibrationL = 20, // RR
jepickett 1:d7642b2e155d 49 ctDownCalibrationH = 21, // RD
jepickett 1:d7642b2e155d 50 ctUpCalibrationL = 22, // RD
jepickett 1:d7642b2e155d 51 ctUpCalibrationH = 23, // RD
jepickett 1:d7642b2e155d 52 ctTorqueEnable = 24, // RD/WR
jepickett 1:d7642b2e155d 53 ctLED = 25, // RD/WR
jepickett 1:d7642b2e155d 54 ctCWComplianceMargin = 26, // RD/WR
jepickett 1:d7642b2e155d 55 ctCCWComplianceMargin = 27, // RD/WR
jepickett 1:d7642b2e155d 56 ctCWComplianceSlope = 28, // RD/WR
jepickett 1:d7642b2e155d 57 ctCCWComplianceSlope = 29, // RD/WR
jepickett 1:d7642b2e155d 58 ctGoalPositionL = 30, // RD/WR
jepickett 1:d7642b2e155d 59 ctGoalPositionH = 31, // RD/WR
jepickett 1:d7642b2e155d 60 ctMovingSpeedL = 32, // RD/WR
jepickett 1:d7642b2e155d 61 ctMovingSpeedH = 33, // RD/WR
jepickett 1:d7642b2e155d 62 ctTorqueLimitL = 34, // RD/WR
jepickett 1:d7642b2e155d 63 ctTorqueLimitH = 35, // RD/WR
jepickett 1:d7642b2e155d 64 ctPresentPositionL = 36, // RD
jepickett 1:d7642b2e155d 65 ctPresentPositionH = 37, // RD
jepickett 1:d7642b2e155d 66 ctPresentSpeedL = 38, // RD
jepickett 1:d7642b2e155d 67 ctPresentSpeedH = 39, // RD
jepickett 1:d7642b2e155d 68 ctPresentLoadL = 40, // RD
jepickett 1:d7642b2e155d 69 ctPresentLoadH = 41, // RD
jepickett 1:d7642b2e155d 70 ctPresentVoltage = 42, // RD
jepickett 1:d7642b2e155d 71 ctPresentTemperature = 43, // RD
jepickett 1:d7642b2e155d 72 ctRegisteredInst = 44, // RD/WR
jepickett 1:d7642b2e155d 73 ctReserved3 = 45,
jepickett 1:d7642b2e155d 74 ctMoving = 46, // RD
jepickett 1:d7642b2e155d 75 ctLock = 47, // RD/WR
jepickett 1:d7642b2e155d 76 ctPunchL = 48, // RD/WR
jepickett 1:d7642b2e155d 77 ctPunchH = 49 // RD/WR
jepickett 0:1a48094c99d1 78 };
jepickett 0:1a48094c99d1 79
henryrawas 11:8de493bd8922 80 // to reduce time reading values from servo,
henryrawas 11:8de493bd8922 81 // we read values as a block from PresentPosition through Moving
henryrawas 11:8de493bd8922 82 // these are cached until ClearCache call
henryrawas 11:8de493bd8922 83 enum CachedControlTable
henryrawas 11:8de493bd8922 84 {
henryrawas 11:8de493bd8922 85 cctPresentPositionL = 36 - 36,
henryrawas 11:8de493bd8922 86 cctPresentPositionH = 37 - 36,
henryrawas 11:8de493bd8922 87 cctPresentSpeedL = 38 - 36,
henryrawas 11:8de493bd8922 88 cctPresentSpeedH = 39 - 36,
henryrawas 11:8de493bd8922 89 cctPresentLoadL = 40 - 36,
henryrawas 11:8de493bd8922 90 cctPresentLoadH = 41 - 36,
henryrawas 11:8de493bd8922 91 cctPresentVoltage = 42 - 36,
henryrawas 11:8de493bd8922 92 cctPresentTemperature = 43 - 36,
henryrawas 11:8de493bd8922 93 cctRegisteredInst = 44 - 36,
henryrawas 11:8de493bd8922 94 cctReserved3 = 45 - 36,
henryrawas 11:8de493bd8922 95 cctMoving = 46 - 36
henryrawas 11:8de493bd8922 96 };
henryrawas 11:8de493bd8922 97
henryrawas 11:8de493bd8922 98 const unsigned char AX12ReadBlockStart = ctPresentPositionL;
henryrawas 11:8de493bd8922 99 const unsigned char AX12ReadBlockLength = ctLock - ctPresentPositionL;
henryrawas 11:8de493bd8922 100
henryrawas 10:e4c9b94b5879 101 class AX12
jepickett 0:1a48094c99d1 102 {
jepickett 0:1a48094c99d1 103
jepickett 0:1a48094c99d1 104 public:
jepickett 0:1a48094c99d1 105 AX12(DynamixelBus* pbus, ServoId = 1);
jepickett 0:1a48094c99d1 106
henryrawas 11:8de493bd8922 107 // clear cache to force actual read from servo
henryrawas 11:8de493bd8922 108 void ClearCache();
henryrawas 11:8de493bd8922 109
jepickett 4:f2da3b1d9988 110 // sets the servo ID
jepickett 4:f2da3b1d9988 111 StatusCode SetServoId(char newId);
jepickett 4:f2da3b1d9988 112
jepickett 0:1a48094c99d1 113 // returns the status of the servo (connected/not connected + errors)
henryrawas 11:8de493bd8922 114 StatusCode Ping(void);
jepickett 0:1a48094c99d1 115
henryrawas 2:7b970151bf19 116 // Sets the goal position of the servo in degrees
jepickett 0:1a48094c99d1 117 StatusCode SetGoal(float degrees);
jepickett 0:1a48094c99d1 118
jepickett 0:1a48094c99d1 119 // determines if the servo is moving
jepickett 0:1a48094c99d1 120 bool IsMoving(void);
jepickett 0:1a48094c99d1 121
jepickett 0:1a48094c99d1 122 // gets the position of the servo in degrees
henryrawas 11:8de493bd8922 123 float GetPosition(void);
jepickett 0:1a48094c99d1 124
jepickett 0:1a48094c99d1 125 // gets the internal temperature of the servo
jepickett 1:d7642b2e155d 126 int GetTemperature(void);
jepickett 0:1a48094c99d1 127
jepickett 0:1a48094c99d1 128 // gets the servo power supply voltage
jepickett 0:1a48094c99d1 129 float GetSupplyVoltage(void);
jepickett 1:d7642b2e155d 130
henryrawas 11:8de493bd8922 131 // Sets the replay delay for dynamixel protocol
henryrawas 11:8de493bd8922 132 StatusCode SetReplyDelay(int us);
henryrawas 11:8de493bd8922 133
henryrawas 7:155ecc801119 134 // gets the servo load
henryrawas 7:155ecc801119 135 float GetLoad(void);
henryrawas 7:155ecc801119 136
jepickett 1:d7642b2e155d 137 // enables/disables holding torque
jepickett 1:d7642b2e155d 138 StatusCode TorqueEnable( bool );
jepickett 0:1a48094c99d1 139
henryrawas 2:7b970151bf19 140 // get last error
henryrawas 6:a702043b1420 141 virtual int GetLastError();
henryrawas 8:b6979be5a0a7 142
henryrawas 8:b6979be5a0a7 143 // check if has error
henryrawas 8:b6979be5a0a7 144 virtual bool HasError();
henryrawas 10:e4c9b94b5879 145
henryrawas 2:7b970151bf19 146
jepickett 0:1a48094c99d1 147 private :
jepickett 0:1a48094c99d1 148 ServoId _ID;
jepickett 0:1a48094c99d1 149 DynamixelBus* _pbus;
henryrawas 2:7b970151bf19 150
henryrawas 2:7b970151bf19 151 unsigned char _LastError;
henryrawas 2:7b970151bf19 152
henryrawas 11:8de493bd8922 153 unsigned char _ReadCache[AX12ReadBlockLength];
henryrawas 11:8de493bd8922 154 bool _HasReadCache;
henryrawas 11:8de493bd8922 155
henryrawas 11:8de493bd8922 156 StatusCode LoadReadCache();
jepickett 0:1a48094c99d1 157 };
jepickett 0:1a48094c99d1 158 #endif