Indrek Ardel / DS-SCX18S

Wrapper library for controlling servos using Designer Systems DS-SCX18.Shield servo driver. See http://www.designersystems.co.uk/SCX18.S_info.htm

SCX18S.h@3:1812150d7a4d, 2016-04-27 (annotated)

Committer:
Ingram
Date:
Wed Apr 27 17:11:38 2016 +0000
Revision:
3:1812150d7a4d
Parent:
0:bf06c3ca958b 
Fix last commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ingram 0:bf06c3ca958b 1 #include "mbed.h"
Ingram 0:bf06c3ca958b 2
Ingram 0:bf06c3ca958b 3 #define SCX18_I2C_BASE_ADDR 0x74 // DS-SCX18.S I2C base address
Ingram 0:bf06c3ca958b 4 #define SCX18_SERVO_ENABLED (1 << 7)
Ingram 0:bf06c3ca958b 5 #define SCX18_SERVO_REVERSED (1 << 6)
Ingram 0:bf06c3ca958b 6 #define SCX18_SERVO_SOFT_START (1 << 5)
Ingram 0:bf06c3ca958b 7 #define SCX18_SERVO_SPEED_CONTROL (1 << 4)
Ingram 0:bf06c3ca958b 8 #define SCX18_SERVO_MOVEMENT (1 << 4)
Ingram 0:bf06c3ca958b 9
Ingram 0:bf06c3ca958b 10 union SCX18SServoStatusRegister {
Ingram 0:bf06c3ca958b 11 uint8_t value;
Ingram 0:bf06c3ca958b 12 struct {
Ingram 0:bf06c3ca958b 13 bool enabled;
Ingram 0:bf06c3ca958b 14 bool reversed;
Ingram 0:bf06c3ca958b 15 bool softstart;
Ingram 0:bf06c3ca958b 16 bool movement;
Ingram 0:bf06c3ca958b 17 uint8_t unpopulated : 4;
Ingram 0:bf06c3ca958b 18 } bits;
Ingram 0:bf06c3ca958b 19 };
Ingram 0:bf06c3ca958b 20
Ingram 0:bf06c3ca958b 21 class SCX18S
Ingram 0:bf06c3ca958b 22 {
Ingram 0:bf06c3ca958b 23 I2C i2c;
Ingram 0:bf06c3ca958b 24 uint8_t i2c_address;
Ingram 0:bf06c3ca958b 25 void writeRegister(uint8_t reg, uint8_t value);
Ingram 0:bf06c3ca958b 26 uint8_t readRegister(uint8_t reg);
Ingram 0:bf06c3ca958b 27
Ingram 0:bf06c3ca958b 28 public:
Ingram 0:bf06c3ca958b 29 SCX18S(PinName p_sda, PinName p_scl, bool j_a0 = true, bool j_a1 = true);
Ingram 0:bf06c3ca958b 30
Ingram 0:bf06c3ca958b 31 SCX18SServoStatusRegister readStatus(uint8_t channel);
Ingram 0:bf06c3ca958b 32 void writePosition(uint8_t channel, uint8_t position);
Ingram 0:bf06c3ca958b 33 void writeControl(uint8_t channel, bool enabled, bool reversed, bool softstart, bool speedcontrol, uint8_t speed);
Ingram 0:bf06c3ca958b 34 void writeEnable();
Ingram 0:bf06c3ca958b 35 };