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SMSBL.h
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SMSBL.h
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/*
* SMSBL.h
* 飞特SMSBL系列串行舵机应用层程序
* 日期: 2020.6.17
* 作者:
*/
#ifndef _SMSBL_H
#define _SMSBL_H
//波特率定义
#define SMSBL_1M 0
#define SMSBL_0_5M 1
#define SMSBL_250K 2
#define SMSBL_128K 3
#define SMSBL_115200 4
#define SMSBL_76800 5
#define SMSBL_57600 6
#define SMSBL_38400 7
//内存表定义
//-------EPROM(只读)--------
#define SMSBL_MODEL_L 3
#define SMSBL_MODEL_H 4
//-------EPROM(读写)--------
#define SMSBL_ID 5
#define SMSBL_BAUD_RATE 6
#define SMSBL_MIN_ANGLE_LIMIT_L 9
#define SMSBL_MIN_ANGLE_LIMIT_H 10
#define SMSBL_MAX_ANGLE_LIMIT_L 11
#define SMSBL_MAX_ANGLE_LIMIT_H 12
#define SMSBL_CW_DEAD 26
#define SMSBL_CCW_DEAD 27
#define SMSBL_OFS_L 31
#define SMSBL_OFS_H 32
#define SMSBL_MODE 33
//-------SRAM(读写)--------
#define SMSBL_TORQUE_ENABLE 40
#define SMSBL_ACC 41
#define SMSBL_GOAL_POSITION_L 42
#define SMSBL_GOAL_POSITION_H 43
#define SMSBL_GOAL_TIME_L 44
#define SMSBL_GOAL_TIME_H 45
#define SMSBL_GOAL_SPEED_L 46
#define SMSBL_GOAL_SPEED_H 47
#define SMSBL_LOCK 55
//-------SRAM(只读)--------
#define SMSBL_PRESENT_POSITION_L 56
#define SMSBL_PRESENT_POSITION_H 57
#define SMSBL_PRESENT_SPEED_L 58
#define SMSBL_PRESENT_SPEED_H 59
#define SMSBL_PRESENT_LOAD_L 60
#define SMSBL_PRESENT_LOAD_H 61
#define SMSBL_PRESENT_VOLTAGE 62
#define SMSBL_PRESENT_TEMPERATURE 63
#define SMSBL_MOVING 66
#define SMSBL_PRESENT_CURRENT_L 69
#define SMSBL_PRESENT_CURRENT_H 70
#include "SCSerial.h"
class SMSBL : public SCSerial
{
public:
SMSBL();
SMSBL(u8 End);
SMSBL(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[SMSBL_PRESENT_CURRENT_H-SMSBL_PRESENT_POSITION_L+1];
};
#endif