tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h

   1 /* mbed AX-12+ Servo Library
   2  *
   3  * Copyright (c) 2010, cstyles (http://mbed.org)
   4  *
   5  * Permission is hereby granted, free of charge, to any person obtaining a copy
   6  * of this software and associated documentation files (the "Software"), to deal
   7  * in the Software without restriction, including without limitation the rights
   8  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   9  * copies of the Software, and to permit persons to whom the Software is
  10  * furnished to do so, subject to the following conditions:
  11  *
  12  * The above copyright notice and this permission notice shall be included in
  13  * all copies or substantial portions of the Software.
  14  *
  15  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  16  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  17  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  18  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  19  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  20  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  21  * THE SOFTWARE.
  22  */
  23
  24 #ifndef MBED_AX12_H
  25 #define MBED_AX12_H
  26
  27 #include "mbed.h"
  28
  29 #define AX12_WRITE_DEBUG 1
  30 #define AX12_READ_DEBUG 1
  31 #define AX12_TRIGGER_DEBUG 1
  32 #define AX12_DEBUG 1
  33
  34 #define AX12_REG_ID 0x3
  35 #define AX12_REG_BAUD 0x4
  36 #define AX12_REG_CW_LIMIT 0x06
  37 #define AX12_REG_CCW_LIMIT 0x08
  38 #define AX12_REG_GOAL_POSITION 0x1E
  39 #define AX12_REG_MOVING_SPEED 0x20
  40 #define AX12_REG_VOLTS 0x2A
  41 #define AX12_REG_TEMP 0x2B
  42 #define AX12_REG_MOVING 0x2E
  43 #define AX12_REG_POSITION 0x24
  44
  45 #define AX12_MODE_POSITION  0
  46 #define AX12_MODE_ROTATION  1
  47
  48 #define AX12_CW 1
  49 #define AX12_CCW 0
  50
  51 /** Servo control class, based on a PwmOut
  52  *
  53  * Example:
  54  * @code
  55  * #include "mbed.h"
  56  * #include "AX12.h"
  57  *
  58  * int main() {
  59  *
  60  *   AX12 myax12 (p9, p10, 1);
  61  *
  62  *   while (1) {
  63  *       myax12.SetGoal(0);    // go to 0 degrees
  64  *       wait (2.0);
  65  *       myax12.SetGoal(300);  // go to 300 degrees
  66  *       wait (2.0);
  67  *   }
  68  * }
  69  * @endcode
  70  */
  71 class AX12 {
  72
  73 public:
  74
  75     /** Create an AX12 servo object connected to the specified serial port, with the specified ID
  76      *
  77      * @param pin tx pin
  78      * @param pin rx pin
  79      * @param int ID, the Bus ID of the servo 1-255
  80      */
  81     AX12(PinName tx, PinName rx, int ID, int baud=1000000);
  82
  83     /** Set the mode of the servo
  84      * @param mode
  85      *    0 = Positional, default
  86      *    1 = Continuous rotation
  87      */
  88     int SetMode(int mode);
  89
  90     /** Set baud rate of all attached servos
  91      * @param mode
  92      *    0x01 = 1,000,000 bps
  93      *    0x03 =   500,000 bps
  94      *    0x04 =   400,000 bps
  95      *    0x07 =   250,000 bps
  96      *    0x09 =   200,000 bps
  97      *    0x10 =   115,200 bps
  98      *    0x22 =    57,600 bps
  99      *    0x67 =    19,200 bps
 100      *    0xCF =     9,600 bp
 101      */
 102     int SetBaud(int baud);
 103
 104
 105     /** Set goal angle in integer degrees, in positional mode
 106      *
 107      * @param degrees 0-300
 108      * @param flags, defaults to 0
 109      *    flags[0] = blocking, return when goal position reached
 110      *    flags[1] = register, activate with a broadcast trigger
 111      *
 112      */
 113     int SetGoal(int degrees, int flags = 0);
 114
 115
 116     /** Set the speed of the servo in continuous rotation mode
 117      *
 118      * @param speed, -1.0 to 1.0
 119      *   -1.0 = full speed counter clock wise
 120      *    1.0 = full speed clock wise
 121      */
 122     int SetCRSpeed(float speed);
 123
 124
 125     /** Set the clockwise limit of the servo
 126      *
 127      * @param degrees, 0-300
 128      */
 129     int SetCWLimit(int degrees);
 130
 131     /** Set the counter-clockwise limit of the servo
 132      *
 133      * @param degrees, 0-300
 134      */
 135     int SetCCWLimit(int degrees);
 136
 137     // Change the ID
 138
 139     /** Change the ID of a servo
 140      *
 141      * @param CurentID 1-255
 142      * @param NewID 1-255
 143      *
 144      * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
 145      * In this situation, only one servo should be connected to the bus
 146      */
 147     int SetID(int CurrentID, int NewID);
 148
 149
 150     /** Poll to see if the servo is moving
 151      *
 152      * @returns true is the servo is moving
 153      */
 154     int isMoving(void);
 155
 156     /** Send the broadcast "trigger" command, to activate any outstanding registered commands
 157      */
 158     void trigger(void);
 159
 160     /** Read the current angle of the servo
 161      *
 162      * @returns float in the range 0.0-300.0
 163      */
 164     float GetPosition();
 165
 166     /** Read the temperature of the servo
 167      *
 168      * @returns float temperature
 169      */
 170     float GetTemp(void);
 171
 172     /** Read the supply voltage of the servo
 173      *
 174      * @returns float voltage
 175      */
 176     float GetVolts(void);
 177
 178     int read(int ID, int start, int length, char* data);
 179     int write(int ID, int start, int length, char* data, int flag=0);
 180
 181 private :
 182
 183     SerialHalfDuplex _ax12;
 184     int _ID;
 185     int _baud;
 186
 187
 188 };
 189
 190 #endif