/mv

Primary LanguageC++MIT LicenseMIT

mv

Cpp

Under Heavey Development, only minimal AX12 working

Yet another Dynamexl library for smart servos. This is call mv after the unix move command.

Cool

Arduino Example

#include <mv.h>
#include <vector>

AX12 servo;
std::vector<uint16_t> angles {0,200,400,600,800,1000};
SerialPort sp;
uint16_t angle;
constexpr int dd_pin = 2;

void setup() {
  Serial.begin(1000000);
  Serial1.begin(1000000);
  Serial1.setTimeout(10);

  sp.begin(&Serial1, dd_pin);

  randomSeed(analogRead(0));
  angle = random(0,1023);
}

void get_response() {
  ReadStatus_t rs = sp.read();
  if (rs.ok) {
    for (Packet_t const &p: rs.pkts) {
      for (uint8_t const &b: p) {
        Serial.print((int) b);
        Serial.print(",");
      }
      Serial.println(" ");
    }
  }
}

void loop() {

    for (const auto& v: angles){
        std::vector<ServoMoveSpeed_t> ss {
            {1, v, 0},
            {2, v, 0},
            {3, v, 0}
        };
        Packet_t mv = servo.makeMovePacket(ss);

        sp.write(mv);
        get_response();

        delay(1000);
    }

    Packet_t ping = servo.makePingPacket();
    sp.write(ping);
    delay(100);
    get_response();

    delay(500);
}

References

Todo

  • support Protocol 1
  • support Protocol 2
  • support XL430 maybe
  • support XL320 probably not

MIT License

Copyright (c) 2019 Kevin J. Walchko

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.