DynamixelSerial.h

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#ifndef DynamixelSerial_h
#define DynamixelSerial_h
 
// EEPROM AREA
#define AX_ID                       3
#define AX_BAUD_RATE                4
#define AX_CW_ANGLE_LIMIT_L         6
#define AX_CCW_ANGLE_LIMIT_L        8
#define AX_LIMIT_TEMPERATURE        11
#define AX_DOWN_LIMIT_VOLTAGE       12
#define AX_MAX_TORQUE_L             14
#define AX_RETURN_LEVEL             16
#define AX_ALARM_LED                17
#define AX_ALARM_SHUTDOWN           18
 
// RAM AREA
#define AX_TORQUE_ENABLE            24
#define AX_LED                      25
#define AX_CW_COMPLIANCE_MARGIN     26
#define AX_CCW_COMPLIANCE_MARGIN    27
#define AX_CW_COMPLIANCE_SLOPE      28
#define AX_CCW_COMPLIANCE_SLOPE     29
#define AX_GOAL_POSITION_L          30
#define AX_GOAL_SPEED_L             32
#define AX_PRESENT_POSITION_L       36
#define AX_PRESENT_SPEED_L          38
#define AX_PRESENT_LOAD_L           40
#define AX_PRESENT_VOLTAGE          42
#define AX_PRESENT_TEMPERATURE      43
#define AX_REGISTERED_INSTRUCTION   44
#define AX_MOVING                   46
#define AX_LOCK                     47
#define AX_PUNCH_L                  48
 
// Instruction set
#define AX_PING                     1
#define AX_READ_DATA                2
#define AX_WRITE_DATA               3
#define AX_ACTION                   5
#define AX_RESET                    6
 
// Constants
#define AX_BROADCAST_ID             254
#define AX_START                    255
 
// Configurations
#define AX_DEFAULT_CCW_AL           1023
#define AX_TIME_OUT                 10
 
#include <Arduino.h>
#include <HardwareSerial.h>
 
class DynamixelInterface {
private:
    HardwareSerial *serialPort;
    void writeByte(byte b);
    bool waitBytes(int n);
 
    void writeMode();
    void readMode();
 
public:
    void setSerial(HardwareSerial *sPort);
    void begin(long baud);
    void end();
 
    void writeBuf(byte id, byte* buf, int len);
 
    int readStatus();
    int readWord();
    int readDWord();
};
 
class DynamixelMotor {
private:
    byte id;
public:
    DynamixelMotor(byte id) : id(id) {}
    
    int reset();
    int ping(); 
    
    int setID(byte newID);
    int setBD(long baud);
    
    int move(int Position);
    int moveSpeed(int Position, int Speed);
    int setEndless(bool Status);
    int turn(bool SIDE, int Speed);
    
    void action(void);
    
    int setTempLimit(byte Temperature);
    int setAngleLimit(int CWLimit, int CCWLimit);
    int setVoltageLimit(byte DVoltage, byte UVoltage);
    int setMaxTorque(int MaxTorque);
    int setSRL(byte SRL);
    int setRDT(byte RDT);
    int setLEDAlarm(byte LEDAlarm);
    int setShutdownAlarm(byte SALARM);
    int setCMargin(byte CWCMargin, byte CCWCMargin);
    int setCSlope(byte CWCSlope, byte CCWCSlope);
    int setPunch(int Punch);
    
    int moving();
    int lockRegister();
    int RWStatus();
    
    int readTemperature();
    int readVoltage();
    int readPosition();
    int readSpeed();
    int readLoad();
    
    int enableTorque(bool Status);
    int enableLED(bool Status);
};
 
extern DynamixelInterface Dynamixel;
 
#endif