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Diffstat (limited to 'tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h')
| -rw-r--r-- | tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h | 190 |
1 files changed, 190 insertions, 0 deletions
diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h new file mode 100644 index 0000000000..d1b3b42aef --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/tests/peripherals/AX12/AX12.h @@ -0,0 +1,190 @@ +/* mbed AX-12+ Servo Library + * + * Copyright (c) 2010, cstyles (http://mbed.org) + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#ifndef MBED_AX12_H +#define MBED_AX12_H + +#include "mbed.h" + +#define AX12_WRITE_DEBUG 1 +#define AX12_READ_DEBUG 1 +#define AX12_TRIGGER_DEBUG 1 +#define AX12_DEBUG 1 + +#define AX12_REG_ID 0x3 +#define AX12_REG_BAUD 0x4 +#define AX12_REG_CW_LIMIT 0x06 +#define AX12_REG_CCW_LIMIT 0x08 +#define AX12_REG_GOAL_POSITION 0x1E +#define AX12_REG_MOVING_SPEED 0x20 +#define AX12_REG_VOLTS 0x2A +#define AX12_REG_TEMP 0x2B +#define AX12_REG_MOVING 0x2E +#define AX12_REG_POSITION 0x24 + +#define AX12_MODE_POSITION 0 +#define AX12_MODE_ROTATION 1 + +#define AX12_CW 1 +#define AX12_CCW 0 + +/** Servo control class, based on a PwmOut + * + * Example: + * @code + * #include "mbed.h" + * #include "AX12.h" + * + * int main() { + * + * AX12 myax12 (p9, p10, 1); + * + * while (1) { + * myax12.SetGoal(0); // go to 0 degrees + * wait (2.0); + * myax12.SetGoal(300); // go to 300 degrees + * wait (2.0); + * } + * } + * @endcode + */ +class AX12 { + +public: + + /** Create an AX12 servo object connected to the specified serial port, with the specified ID + * + * @param pin tx pin + * @param pin rx pin + * @param int ID, the Bus ID of the servo 1-255 + */ + AX12(PinName tx, PinName rx, int ID, int baud=1000000); + + /** Set the mode of the servo + * @param mode + * 0 = Positional, default + * 1 = Continuous rotation + */ + int SetMode(int mode); + + /** Set baud rate of all attached servos + * @param mode + * 0x01 = 1,000,000 bps + * 0x03 = 500,000 bps + * 0x04 = 400,000 bps + * 0x07 = 250,000 bps + * 0x09 = 200,000 bps + * 0x10 = 115,200 bps + * 0x22 = 57,600 bps + * 0x67 = 19,200 bps + * 0xCF = 9,600 bp + */ + int SetBaud(int baud); + + + /** Set goal angle in integer degrees, in positional mode + * + * @param degrees 0-300 + * @param flags, defaults to 0 + * flags[0] = blocking, return when goal position reached + * flags[1] = register, activate with a broadcast trigger + * + */ + int SetGoal(int degrees, int flags = 0); + + + /** Set the speed of the servo in continuous rotation mode + * + * @param speed, -1.0 to 1.0 + * -1.0 = full speed counter clock wise + * 1.0 = full speed clock wise + */ + int SetCRSpeed(float speed); + + + /** Set the clockwise limit of the servo + * + * @param degrees, 0-300 + */ + int SetCWLimit(int degrees); + + /** Set the counter-clockwise limit of the servo + * + * @param degrees, 0-300 + */ + int SetCCWLimit(int degrees); + + // Change the ID + + /** Change the ID of a servo + * + * @param CurentID 1-255 + * @param NewID 1-255 + * + * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID. + * In this situation, only one servo should be connected to the bus + */ + int SetID(int CurrentID, int NewID); + + + /** Poll to see if the servo is moving + * + * @returns true is the servo is moving + */ + int isMoving(void); + + /** Send the broadcast "trigger" command, to activate any outstanding registered commands + */ + void trigger(void); + + /** Read the current angle of the servo + * + * @returns float in the range 0.0-300.0 + */ + float GetPosition(); + + /** Read the temperature of the servo + * + * @returns float temperature + */ + float GetTemp(void); + + /** Read the supply voltage of the servo + * + * @returns float voltage + */ + float GetVolts(void); + + int read(int ID, int start, int length, char* data); + int write(int ID, int start, int length, char* data, int flag=0); + +private : + + SerialHalfDuplex _ax12; + int _ID; + int _baud; + + +}; + +#endif |