mirror of
https://github.com/m5stack/StackChan.git
synced 2026-04-29 20:04:23 +00:00
Forairaaaaa
86 lines
3.3 KiB
C++
86 lines
3.3 KiB
C++
/*
|
|
* SCSCL.h
|
|
* FIT SCSCL series serial servo application layer program
|
|
*/
|
|
|
|
#ifndef _SCSCL_H
|
|
#define _SCSCL_H
|
|
|
|
// Memory table definition
|
|
//-------EPROM (read-only)--------
|
|
#define SCSCL_VERSION_L 3
|
|
#define SCSCL_VERSION_H 4
|
|
|
|
//-------EPROM (read and write)--------
|
|
#define SCSCL_ID 5
|
|
#define SCSCL_BAUD_RATE 6
|
|
#define SCSCL_MIN_ANGLE_LIMIT_L 9
|
|
#define SCSCL_MIN_ANGLE_LIMIT_H 10
|
|
#define SCSCL_MAX_ANGLE_LIMIT_L 11
|
|
#define SCSCL_MAX_ANGLE_LIMIT_H 12
|
|
#define SCSCL_CW_DEAD 26
|
|
#define SCSCL_CCW_DEAD 27
|
|
|
|
//-------SRAM (read and write)--------
|
|
#define SCSCL_TORQUE_ENABLE 40
|
|
#define SCSCL_GOAL_POSITION_L 42
|
|
#define SCSCL_GOAL_POSITION_H 43
|
|
#define SCSCL_GOAL_TIME_L 44
|
|
#define SCSCL_GOAL_TIME_H 45
|
|
#define SCSCL_GOAL_SPEED_L 46
|
|
#define SCSCL_GOAL_SPEED_H 47
|
|
#define SCSCL_LOCK 48
|
|
|
|
//-------SRAM (read only)--------
|
|
#define SCSCL_PRESENT_POSITION_L 56
|
|
#define SCSCL_PRESENT_POSITION_H 57
|
|
#define SCSCL_PRESENT_SPEED_L 58
|
|
#define SCSCL_PRESENT_SPEED_H 59
|
|
#define SCSCL_PRESENT_LOAD_L 60
|
|
#define SCSCL_PRESENT_LOAD_H 61
|
|
#define SCSCL_PRESENT_VOLTAGE 62
|
|
#define SCSCL_PRESENT_TEMPERATURE 63
|
|
#define SCSCL_MOVING 66
|
|
#define SCSCL_PRESENT_CURRENT_L 69
|
|
#define SCSCL_PRESENT_CURRENT_H 70
|
|
|
|
#include "SCSerial.h"
|
|
|
|
class SCSCL : public SCSerial {
|
|
public:
|
|
SCSCL();
|
|
SCSCL(u8 End);
|
|
SCSCL(u8 End, u8 Level);
|
|
virtual int WritePos(u8 ID, u16 Position, u16 Time, u16 Speed); // Normal write of single servo position command
|
|
virtual int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC); // Single servo position command
|
|
virtual int RegWritePos(
|
|
u8 ID, u16 Position, u16 Time,
|
|
u16 Speed = 0); // Asynchronously write a single servo position command (RegWriteAction takes effect)
|
|
virtual void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[],
|
|
u16 Speed[]); // Synchronously write multiple servo position commands
|
|
virtual int PWMMode(u8 ID); // PWM output mode
|
|
virtual int WritePWM(u8 ID, s16 pwmOut); // PWM output mode command
|
|
virtual int SwitchMode(int ID, uint8_t mode); // Switch between position mode and PWM mode
|
|
virtual int EnableTorque(u8 ID, u8 Enable); // Torque control command
|
|
virtual int unLockEprom(u8 ID); // eprom unlock
|
|
virtual int LockEprom(u8 ID); // eprom lock
|
|
virtual int FeedBack(int ID); // Feedback servo information
|
|
virtual int ReadPos(int ID); // Read position
|
|
virtual int ReadSpeed(int ID); // Read speed
|
|
virtual int ReadLoad(int ID); // Read the output voltage percentage to the motor (0~1000)
|
|
virtual int ReadVoltage(int ID); // Read voltage
|
|
virtual int ReadTemper(int ID); // Read temperature
|
|
virtual int ReadMove(int ID); // Read movement status
|
|
virtual int ReadCurrent(int ID); // read current
|
|
virtual int ReadMode(int ID);
|
|
virtual int ReadToqueEnable(int ID);
|
|
virtual int CalibrationOfs(u8 ID);
|
|
virtual int ReadInfoValue(int ID, int AddInput);
|
|
|
|
private:
|
|
u8 Mem[SCSCL_PRESENT_CURRENT_H - SCSCL_PRESENT_POSITION_L + 1];
|
|
int min_angle[2];
|
|
int max_angle[2];
|
|
};
|
|
|
|
#endif |