89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
/*
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* HLSCL.h
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* 飞特HLS系列串行舵机应用层程序
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* 日期: 2024.11.21
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* 作者: txl
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*/
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#ifndef _HLSCL_H
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#define _HLSCL_H
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//内存表定义
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//-------EPROM(只读)--------
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#define HLSCL_MODEL_L 3
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#define HLSCL_MODEL_H 4
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//-------EPROM(读写)--------
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#define HLSCL_ID 5
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#define HLSCL_BAUD_RATE 6
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#define HLSCL_SECOND_ID 7
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#define HLSCL_MIN_ANGLE_LIMIT_L 9
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#define HLSCL_MIN_ANGLE_LIMIT_H 10
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#define HLSCL_MAX_ANGLE_LIMIT_L 11
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#define HLSCL_MAX_ANGLE_LIMIT_H 12
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#define HLSCL_CW_DEAD 26
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#define HLSCL_CCW_DEAD 27
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#define HLSCL_OFS_L 31
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#define HLSCL_OFS_H 32
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#define HLSCL_MODE 33
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//-------SRAM(读写)--------
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#define HLSCL_TORQUE_ENABLE 40
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#define HLSCL_ACC 41
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#define HLSCL_GOAL_POSITION_L 42
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#define HLSCL_GOAL_POSITION_H 43
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#define HLSCL_GOAL_TORQUE_L 44
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#define HLSCL_GOAL_TORQUE_H 45
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#define HLSCL_GOAL_SPEED_L 46
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#define HLSCL_GOAL_SPEED_H 47
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#define HLSCL_TORQUE_LIMIT_L 48
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#define HLSCL_TORQUE_LIMIT_H 49
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#define HLSCL_LOCK 55
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//-------SRAM(只读)--------
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#define HLSCL_PRESENT_POSITION_L 56
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#define HLSCL_PRESENT_POSITION_H 57
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#define HLSCL_PRESENT_SPEED_L 58
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#define HLSCL_PRESENT_SPEED_H 59
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#define HLSCL_PRESENT_LOAD_L 60
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#define HLSCL_PRESENT_LOAD_H 61
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#define HLSCL_PRESENT_VOLTAGE 62
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#define HLSCL_PRESENT_TEMPERATURE 63
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#define HLSCL_MOVING 66
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#define HLSCL_PRESENT_CURRENT_L 69
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#define HLSCL_PRESENT_CURRENT_H 70
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#include "SCSerial.h"
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class HLSCL : public SCSerial
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{
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public:
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HLSCL();
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HLSCL(u8 End);
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HLSCL(u8 End, u8 Level);
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int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0, u16 Torque = 0);//普通写单个舵机位置指令
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int RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0, u16 Torque = 0);//异步写单个舵机位置指令(RegWriteAction生效)
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void SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[], u16 Torque[]);//同步写多个舵机位置指令
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void SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[], u16 Torque[]);//同步写多个舵机速度指令
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int ServoMode(u8 ID);//Servo模式
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int WheelMode(u8 ID);//恒速模式
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int EleMode(u8 ID);//恒力模式
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int WriteSpe(u8 ID, s16 Speed, u8 ACC = 0, u16 Torque = 0);//恒速模式控制指令
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int WriteEle(u8 ID, s16 Torque);//恒力模式控制指令
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int EnableTorque(u8 ID, u8 Enable);//扭力控制指令
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int unLockEprom(u8 ID);//eprom解锁
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int LockEprom(u8 ID);//eprom加锁
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int CalibrationOfs(u8 ID);//中位校准
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int FeedBack(int ID);//反馈舵机信息
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int ReadPos(int ID);//读位置
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int ReadSpeed(int ID);//读速度
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int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
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int ReadVoltage(int ID);//读电压
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int ReadTemper(int ID);//读温度
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int ReadMove(int ID);//读移动状态
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int ReadCurrent(int ID);//读电流
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private:
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u8 Mem[HLSCL_PRESENT_CURRENT_H-HLSCL_PRESENT_POSITION_L+1];
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};
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#endif |