forked from workloads/scservo
-
Notifications
You must be signed in to change notification settings - Fork 0
/
SMS_STS.h
83 lines (75 loc) · 2.63 KB
/
SMS_STS.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
/*
* SMS_STS.h
* FIT SMS/STS series serial servo application layer program
*/
#ifndef _SMS_STS_H
#define _SMS_STS_H
//内存表定义
//-------EPROM(只读)--------
#define SMS_STS_MODEL_L 3
#define SMS_STS_MODEL_H 4
//-------EPROM(读写)--------
#define SMS_STS_ID 5
#define SMS_STS_BAUD_RATE 6
#define SMS_STS_MIN_ANGLE_LIMIT_L 9
#define SMS_STS_MIN_ANGLE_LIMIT_H 10
#define SMS_STS_MAX_ANGLE_LIMIT_L 11
#define SMS_STS_MAX_ANGLE_LIMIT_H 12
#define SMS_STS_CW_DEAD 26
#define SMS_STS_CCW_DEAD 27
#define SMS_STS_OFS_L 31
#define SMS_STS_OFS_H 32
#define SMS_STS_MODE 33
//-------SRAM(读写)--------
#define SMS_STS_TORQUE_ENABLE 40
#define SMS_STS_ACC 41
#define SMS_STS_GOAL_POSITION_L 42
#define SMS_STS_GOAL_POSITION_H 43
#define SMS_STS_GOAL_TIME_L 44
#define SMS_STS_GOAL_TIME_H 45
#define SMS_STS_GOAL_SPEED_L 46
#define SMS_STS_GOAL_SPEED_H 47
#define SMS_STS_TORQUE_LIMIT_L 48
#define SMS_STS_TORQUE_LIMIT_H 49
#define SMS_STS_LOCK 55
//-------SRAM(只读)--------
#define SMS_STS_PRESENT_POSITION_L 56
#define SMS_STS_PRESENT_POSITION_H 57
#define SMS_STS_PRESENT_SPEED_L 58
#define SMS_STS_PRESENT_SPEED_H 59
#define SMS_STS_PRESENT_LOAD_L 60
#define SMS_STS_PRESENT_LOAD_H 61
#define SMS_STS_PRESENT_VOLTAGE 62
#define SMS_STS_PRESENT_TEMPERATURE 63
#define SMS_STS_MOVING 66
#define SMS_STS_PRESENT_CURRENT_L 69
#define SMS_STS_PRESENT_CURRENT_H 70
#include "SCSerial.h"
class SMS_STS : public SCSerial
{
public:
SMS_STS();
SMS_STS(u8 End);
SMS_STS(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
virtual int ReadMode(int ID);
private:
u8 Mem[SMS_STS_PRESENT_CURRENT_H-SMS_STS_PRESENT_POSITION_L+1];
};
#endif