text: /* mbed AX-12+ Servo Library
   *
   * Copyright (c) 2010, cstyles (http://mbed.org)
   *
   * 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.
   */
  
  #ifndef MBED_AX12_H
  #define MBED_AX12_H
  
  #include "mbed.h"
  
  #define AX12_WRITE_DEBUG 1
  #define AX12_READ_DEBUG 1
  #define AX12_TRIGGER_DEBUG 1
  #define AX12_DEBUG 1
  
  #define AX12_REG_ID 0x3
  #define AX12_REG_BAUD 0x4
  #define AX12_REG_CW_LIMIT 0x06
  #define AX12_REG_CCW_LIMIT 0x08
  #define AX12_REG_GOAL_POSITION 0x1E
  #define AX12_REG_MOVING_SPEED 0x20
  #define AX12_REG_VOLTS 0x2A
  #define AX12_REG_TEMP 0x2B
  #define AX12_REG_MOVING 0x2E
  #define AX12_REG_POSITION 0x24
  
  #define AX12_MODE_POSITION  0
  #define AX12_MODE_ROTATION  1
  
  #define AX12_CW 1
  #define AX12_CCW 0
  
  /** Servo control class, based on a PwmOut
   *
   * Example:
   * @code
   * #include "mbed.h"
   * #include "AX12.h"
   *
   * int main() {
   *
   *   AX12 myax12 (p9, p10, 1);
   *
   *   while (1) {
   *       myax12.SetGoal(0);    // go to 0 degrees
   *       wait (2.0);
   *       myax12.SetGoal(300);  // go to 300 degrees
   *       wait (2.0);
   *   }
   * }
   * @endcode
   */
  class AX12 {
  
  public:
  
      /** Create an AX12 servo object connected to the specified serial port, with the specified ID
       *
       * @param pin tx pin
       * @param pin rx pin
       * @param int ID, the Bus ID of the servo 1-255
       */
      AX12(PinName tx, PinName rx, int ID, int baud=1000000);
  
      /** Set the mode of the servo
       * @param mode
       *    0 = Positional, default
       *    1 = Continuous rotation
       */
      int SetMode(int mode);
  
      /** Set baud rate of all attached servos
       * @param mode
       *    0x01 = 1,000,000 bps
       *    0x03 =   500,000 bps
       *    0x04 =   400,000 bps
       *    0x07 =   250,000 bps
       *    0x09 =   200,000 bps
       *    0x10 =   115,200 bps
       *    0x22 =    57,600 bps
       *    0x67 =    19,200 bps
       *    0xCF =     9,600 bp
       */
      int SetBaud(int baud);
  
  
      /** Set goal angle in integer degrees, in positional mode
       *
       * @param degrees 0-300
       * @param flags, defaults to 0
       *    flags[0] = blocking, return when goal position reached
       *    flags[1] = register, activate with a broadcast trigger
       *
       */
      int SetGoal(int degrees, int flags = 0);
  
  
      /** Set the speed of the servo in continuous rotation mode
       *
       * @param speed, -1.0 to 1.0
       *   -1.0 = full speed counter clock wise
       *    1.0 = full speed clock wise
       */
      int SetCRSpeed(float speed);
  
  
      /** Set the clockwise limit of the servo
       *
       * @param degrees, 0-300
       */
      int SetCWLimit(int degrees);
  
      /** Set the counter-clockwise limit of the servo
       *
       * @param degrees, 0-300
       */
      int SetCCWLimit(int degrees);
  
      // Change the ID
  
      /** Change the ID of a servo
       *
       * @param CurentID 1-255
       * @param NewID 1-255
       *
       * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
       * In this situation, only one servo should be connected to the bus
       */
      int SetID(int CurrentID, int NewID);
  
  
      /** Poll to see if the servo is moving
       *
       * @returns true is the servo is moving
       */
      int isMoving(void);
  
      /** Send the broadcast "trigger" command, to activate any outstanding registered commands
       */
      void trigger(void);
  
      /** Read the current angle of the servo
       *
       * @returns float in the range 0.0-300.0
       */
      float GetPosition();
  
      /** Read the temperature of the servo
       *
       * @returns float temperature
       */
      float GetTemp(void);
  
      /** Read the supply voltage of the servo
       *
       * @returns float voltage
       */
      float GetVolts(void);
  
      int read(int ID, int start, int length, char* data);
      int write(int ID, int start, int length, char* data, int flag=0);
  
  private :
  
      SerialHalfDuplex _ax12;
      int _ID;
      int _baud;
  
  
  };
  
  #endif
  