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324d114386
- Add platformio.ini for ESP32 DevKit (Arduino framework, espressif32 6.10.0) - Vendor ArduinoJson, MPU6050_tockn, SCServo, Simple_FOC, and WebSockets so a fresh clone builds without downloading dependencies - Add .gitignore rules for PlatformIO/IDE build artifacts - Add controller PCB Gerber and drill files
81 lines
2.5 KiB
C++
81 lines
2.5 KiB
C++
/*
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* SCSCL.h
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* 飞特SCSCL系列串行舵机应用层程序
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* 日期: 2021.3.11
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* 作者:
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*/
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#ifndef _SCSCL_H
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#define _SCSCL_H
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//内存表定义
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//-------EPROM(只读)--------
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#define SCSCL_VERSION_L 3
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#define SCSCL_VERSION_H 4
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//-------EPROM(读写)--------
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#define SCSCL_ID 5
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#define SCSCL_BAUD_RATE 6
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#define SCSCL_MIN_ANGLE_LIMIT_L 9
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#define SCSCL_MIN_ANGLE_LIMIT_H 10
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#define SCSCL_MAX_ANGLE_LIMIT_L 11
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#define SCSCL_MAX_ANGLE_LIMIT_H 12
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#define SCSCL_CW_DEAD 26
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#define SCSCL_CCW_DEAD 27
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//-------SRAM(读写)--------
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#define SCSCL_TORQUE_ENABLE 40
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#define SCSCL_GOAL_POSITION_L 42
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#define SCSCL_GOAL_POSITION_H 43
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#define SCSCL_GOAL_TIME_L 44
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#define SCSCL_GOAL_TIME_H 45
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#define SCSCL_GOAL_SPEED_L 46
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#define SCSCL_GOAL_SPEED_H 47
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#define SCSCL_LOCK 48
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//-------SRAM(只读)--------
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#define SCSCL_PRESENT_POSITION_L 56
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#define SCSCL_PRESENT_POSITION_H 57
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#define SCSCL_PRESENT_SPEED_L 58
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#define SCSCL_PRESENT_SPEED_H 59
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#define SCSCL_PRESENT_LOAD_L 60
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#define SCSCL_PRESENT_LOAD_H 61
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#define SCSCL_PRESENT_VOLTAGE 62
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#define SCSCL_PRESENT_TEMPERATURE 63
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#define SCSCL_MOVING 66
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#define SCSCL_PRESENT_CURRENT_L 69
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#define SCSCL_PRESENT_CURRENT_H 70
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#include "SCSerial.h"
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class SCSCL : public SCSerial
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{
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public:
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SCSCL();
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SCSCL(u8 End);
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SCSCL(u8 End, u8 Level);
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virtual int WritePos(u8 ID, u16 Position, u16 Time, u16 Speed);//普通写单个舵机位置指令
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virtual int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC);//单个舵机位置指令
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virtual int RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);//异步写单个舵机位置指令(RegWriteAction生效)
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virtual void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[]);//同步写多个舵机位置指令
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virtual int PWMMode(u8 ID);//PWM输出模式
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virtual int WritePWM(u8 ID, s16 pwmOut);//PWM输出模式指令
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virtual int EnableTorque(u8 ID, u8 Enable);//扭矩控制指令
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virtual int unLockEprom(u8 ID);//eprom解锁
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virtual int LockEprom(u8 ID);//eprom加锁
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virtual int FeedBack(int ID);//反馈舵机信息
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virtual int ReadPos(int ID);//读位置
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virtual int ReadSpeed(int ID);//读速度
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virtual int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
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virtual int ReadVoltage(int ID);//读电压
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virtual int ReadTemper(int ID);//读温度
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virtual int ReadMove(int ID);//读移动状态
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virtual int ReadCurrent(int ID);//读电流
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virtual int ReadMode(int ID);
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virtual int CalibrationOfs(u8 ID);
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virtual int ReadInfoValue(int ID, int AddInput);
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private:
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u8 Mem[SCSCL_PRESENT_CURRENT_H-SCSCL_PRESENT_POSITION_L+1];
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};
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#endif |