优化了平衡，尤其对于向后倾倒的几种极限情况进行优化
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/*
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* SMS_STS.cpp
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* 飞特SMS_STS系列串行舵机应用层程序
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* 日期: 2020.6.17
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* 作者:
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*/
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#include "SMS_STS.h"
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SMS_STS::SMS_STS()
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{
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End = 0;
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}
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SMS_STS::SMS_STS(u8 End):SCSerial(End)
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{
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}
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SMS_STS::SMS_STS(u8 End, u8 Level):SCSerial(End, Level)
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{
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}
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int SMS_STS::WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC)
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{
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if(Position<0){
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Position = -Position;
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Position |= (1<<15);
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}
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u8 bBuf[7];
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bBuf[0] = ACC;
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Host2SCS(bBuf+1, bBuf+2, Position);
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Host2SCS(bBuf+3, bBuf+4, 0);
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Host2SCS(bBuf+5, bBuf+6, Speed);
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return genWrite(ID, SMS_STS_ACC, bBuf, 7);
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}
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int SMS_STS::RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC)
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{
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if(Position<0){
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Position = -Position;
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Position |= (1<<15);
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}
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u8 bBuf[7];
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bBuf[0] = ACC;
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Host2SCS(bBuf+1, bBuf+2, Position);
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Host2SCS(bBuf+3, bBuf+4, 0);
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Host2SCS(bBuf+5, bBuf+6, Speed);
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return regWrite(ID, SMS_STS_ACC, bBuf, 7);
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}
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void SMS_STS::SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[])
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{
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u8 offbuf[7*IDN];
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for(u8 i = 0; i<IDN; i++){
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if(Position[i]<0){
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Position[i] = -Position[i];
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Position[i] |= (1<<15);
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}
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u16 V;
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if(Speed){
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V = Speed[i];
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}else{
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V = 0;
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}
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if(ACC){
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offbuf[i*7] = ACC[i];
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}else{
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offbuf[i*7] = 0;
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}
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Host2SCS(offbuf+i*7+1, offbuf+i*7+2, Position[i]);
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Host2SCS(offbuf+i*7+3, offbuf+i*7+4, 0);
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Host2SCS(offbuf+i*7+5, offbuf+i*7+6, V);
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}
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syncWrite(ID, IDN, SMS_STS_ACC, offbuf, 7);
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}
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int SMS_STS::WheelMode(u8 ID)
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{
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return writeByte(ID, SMS_STS_MODE, 1);
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}
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int SMS_STS::WriteSpe(u8 ID, s16 Speed, u8 ACC)
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{
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if(Speed<0){
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Speed = -Speed;
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Speed |= (1<<15);
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}
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u8 bBuf[2];
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bBuf[0] = ACC;
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genWrite(ID, SMS_STS_ACC, bBuf, 1);
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Host2SCS(bBuf+0, bBuf+1, Speed);
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return genWrite(ID, SMS_STS_GOAL_SPEED_L, bBuf, 2);
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}
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int SMS_STS::EnableTorque(u8 ID, u8 Enable)
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{
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return writeByte(ID, SMS_STS_TORQUE_ENABLE, Enable);
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}
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int SMS_STS::unLockEprom(u8 ID)
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{
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return writeByte(ID, SMS_STS_LOCK, 0);
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}
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int SMS_STS::LockEprom(u8 ID)
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{
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return writeByte(ID, SMS_STS_LOCK, 1);
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}
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int SMS_STS::CalibrationOfs(u8 ID)
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{
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return writeByte(ID, SMS_STS_TORQUE_ENABLE, 128);
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}
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int SMS_STS::FeedBack(int ID)
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{
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int nLen = Read(ID, SMS_STS_PRESENT_POSITION_L, Mem, sizeof(Mem));
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if(nLen!=sizeof(Mem)){
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Err = 1;
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return -1;
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}
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Err = 0;
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return nLen;
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}
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int SMS_STS::ReadPos(int ID)
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{
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int Pos = -1;
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if(ID==-1){
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Pos = Mem[SMS_STS_PRESENT_POSITION_H-SMS_STS_PRESENT_POSITION_L];
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Pos <<= 8;
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Pos |= Mem[SMS_STS_PRESENT_POSITION_L-SMS_STS_PRESENT_POSITION_L];
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}else{
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Err = 0;
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Pos = readWord(ID, SMS_STS_PRESENT_POSITION_L);
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if(Pos==-1){
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Err = 1;
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}
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}
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if(!Err && (Pos&(1<<15))){
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Pos = -(Pos&~(1<<15));
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}
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return Pos;
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}
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int SMS_STS::ReadSpeed(int ID)
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{
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int Speed = -1;
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if(ID==-1){
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Speed = Mem[SMS_STS_PRESENT_SPEED_H-SMS_STS_PRESENT_POSITION_L];
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Speed <<= 8;
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Speed |= Mem[SMS_STS_PRESENT_SPEED_L-SMS_STS_PRESENT_POSITION_L];
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}else{
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Err = 0;
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Speed = readWord(ID, SMS_STS_PRESENT_SPEED_L);
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if(Speed==-1){
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Err = 1;
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return -1;
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}
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}
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if(!Err && (Speed&(1<<15))){
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Speed = -(Speed&~(1<<15));
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}
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return Speed;
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}
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int SMS_STS::ReadLoad(int ID)
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{
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int Load = -1;
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if(ID==-1){
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Load = Mem[SMS_STS_PRESENT_LOAD_H-SMS_STS_PRESENT_POSITION_L];
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Load <<= 8;
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Load |= Mem[SMS_STS_PRESENT_LOAD_L-SMS_STS_PRESENT_POSITION_L];
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}else{
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Err = 0;
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Load = readWord(ID, SMS_STS_PRESENT_LOAD_L);
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if(Load==-1){
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Err = 1;
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}
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}
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if(!Err && (Load&(1<<10))){
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Load = -(Load&~(1<<10));
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}
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return Load;
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}
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int SMS_STS::ReadVoltage(int ID)
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{
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int Voltage = -1;
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if(ID==-1){
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Voltage = Mem[SMS_STS_PRESENT_VOLTAGE-SMS_STS_PRESENT_POSITION_L];
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}else{
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Err = 0;
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Voltage = readByte(ID, SMS_STS_PRESENT_VOLTAGE);
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if(Voltage==-1){
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Err = 1;
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}
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}
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return Voltage;
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}
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int SMS_STS::ReadTemper(int ID)
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{
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int Temper = -1;
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if(ID==-1){
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Temper = Mem[SMS_STS_PRESENT_TEMPERATURE-SMS_STS_PRESENT_POSITION_L];
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}else{
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Err = 0;
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Temper = readByte(ID, SMS_STS_PRESENT_TEMPERATURE);
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if(Temper==-1){
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Err = 1;
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}
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}
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return Temper;
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}
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int SMS_STS::ReadMove(int ID)
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{
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int Move = -1;
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if(ID==-1){
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Move = Mem[SMS_STS_MOVING-SMS_STS_PRESENT_POSITION_L];
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}else{
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Err = 0;
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Move = readByte(ID, SMS_STS_MOVING);
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if(Move==-1){
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Err = 1;
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}
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}
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return Move;
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}
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int SMS_STS::ReadMode(int ID)
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{
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int Mode = -1;
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if(ID==-1){
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Mode = Mem[SMS_STS_MODE-SMS_STS_PRESENT_POSITION_L];
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}else{
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Err = 0;
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Mode = readByte(ID, SMS_STS_MODE);
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if(Mode==-1){
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Err = 1;
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}
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}
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return Mode;
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}
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int SMS_STS::ReadCurrent(int ID)
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{
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int Current = -1;
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if(ID==-1){
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Current = Mem[SMS_STS_PRESENT_CURRENT_H-SMS_STS_PRESENT_POSITION_L];
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Current <<= 8;
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Current |= Mem[SMS_STS_PRESENT_CURRENT_L-SMS_STS_PRESENT_POSITION_L];
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}else{
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Err = 0;
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Current = readWord(ID, SMS_STS_PRESENT_CURRENT_L);
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if(Current==-1){
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Err = 1;
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return -1;
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}
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}
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if(!Err && (Current&(1<<15))){
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Current = -(Current&~(1<<15));
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}
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return Current;
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}
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