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/* 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
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