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SMSCL.h
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SMSCL.h
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/*
* SMSCL.h
* 飞特SMSCL系列串行舵机接口
* 日期: 2020.6.17
* 作者:
*/
#ifndef _SMSCL_H
#define _SMSCL_H
#define SMSCL_1M 0
#define SMSCL_0_5M 1
#define SMSCL_250K 2
#define SMSCL_128K 3
#define SMSCL_115200 4
#define SMSCL_76800 5
#define SMSCL_57600 6
#define SMSCL_38400 7
//内存表定义
//-------EPROM(只读)--------
#define SMSCL_VERSION_L 3
#define SMSCL_VERSION_H 4
//-------EPROM(读写)--------
#define SMSCL_ID 5
#define SMSCL_BAUD_RATE 6
#define SMSCL_RETURN_DELAY_TIME 7
#define SMSCL_RETURN_LEVEL 8
#define SMSCL_MIN_ANGLE_LIMIT_L 9
#define SMSCL_MIN_ANGLE_LIMIT_H 10
#define SMSCL_MAX_ANGLE_LIMIT_L 11
#define SMSCL_MAX_ANGLE_LIMIT_H 12
#define SMSCL_LIMIT_TEMPERATURE 13
#define SMSCL_MAX_LIMIT_VOLTAGE 14
#define SMSCL_MIN_LIMIT_VOLTAGE 15
#define SMSCL_MAX_TORQUE_L 16
#define SMSCL_MAX_TORQUE_H 17
#define SMSCL_ALARM_LED 19
#define SMSCL_ALARM_SHUTDOWN 20
#define SMSCL_COMPLIANCE_P 21
#define SMSCL_COMPLIANCE_D 22
#define SMSCL_COMPLIANCE_I 23
#define SMSCL_PUNCH_L 24
#define SMSCL_PUNCH_H 25
#define SMSCL_CW_DEAD 26
#define SMSCL_CCW_DEAD 27
#define SMSCL_OFS_L 33
#define SMSCL_OFS_H 34
#define SMSCL_MODE 35
#define SMSCL_MAX_CURRENT_L 36
#define SMSCL_MAX_CURRENT_H 37
//-------SRAM(读写)--------
#define SMSCL_TORQUE_ENABLE 40
#define SMSCL_ACC 41
#define SMSCL_GOAL_POSITION_L 42
#define SMSCL_GOAL_POSITION_H 43
#define SMSCL_GOAL_TIME_L 44
#define SMSCL_GOAL_TIME_H 45
#define SMSCL_GOAL_SPEED_L 46
#define SMSCL_GOAL_SPEED_H 47
#define SMSCL_LOCK 48
//-------SRAM(只读)--------
#define SMSCL_PRESENT_POSITION_L 56
#define SMSCL_PRESENT_POSITION_H 57
#define SMSCL_PRESENT_SPEED_L 58
#define SMSCL_PRESENT_SPEED_H 59
#define SMSCL_PRESENT_LOAD_L 60
#define SMSCL_PRESENT_LOAD_H 61
#define SMSCL_PRESENT_VOLTAGE 62
#define SMSCL_PRESENT_TEMPERATURE 63
#define SMSCL_REGISTERED_INSTRUCTION 64
#define SMSCL_MOVING 66
#define SMSCL_PRESENT_CURRENT_L 69
#define SMSCL_PRESENT_CURRENT_H 70
#include "SCSerial.h"
class SMSCL : public SCSerial
{
public:
SMSCL();
SMSCL(u8 End);
SMSCL(u8 End, u8 Level);
virtual int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0);//普通写单个舵机位置指令
virtual int RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0);//异步写单个舵机位置指令(RegWriteAction生效)
virtual void SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[]);//同步写多个舵机位置指令
virtual int WheelMode(u8 ID);//恒速模式
virtual int WriteSpe(u8 ID, s16 Speed, u8 ACC = 0);//恒速模式控制指令
virtual int EnableTorque(u8 ID, u8 Enable);//扭力控制指令
virtual int unLockEprom(u8 ID);//eprom解锁
virtual int LockEprom(u8 ID);//eprom加锁
virtual int CalibrationOfs(u8 ID);//中位校准
virtual int FeedBack(int ID);//反馈舵机信息
virtual int ReadPos(int ID);//读位置
virtual int ReadSpeed(int ID);//读速度
virtual int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
virtual int ReadVoltage(int ID);//读电压
virtual int ReadTemper(int ID);//读温度
virtual int ReadMove(int ID);////读移动状态
virtual int ReadCurrent(int ID);//读电流
private:
u8 Mem[SMSCL_PRESENT_CURRENT_H-SMSCL_PRESENT_POSITION_L+1];
};
#endif