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SCSCL.h
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SCSCL.h
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/*
* SCSCL.h
* 飞特SCSCL系列串行舵机应用层程序
* 日期: 2020.6.17
* 作者:
*/
#ifndef _SCSCL_H
#define _SCSCL_H
#define SCSCL_1M 0
#define SCSCL_0_5M 1
#define SCSCL_250K 2
#define SCSCL_128K 3
#define SCSCL_115200 4
#define SCSCL_76800 5
#define SCSCL_57600 6
#define SCSCL_38400 7
//内存表定义
//-------EPROM(只读)--------
#define SCSCL_VERSION_L 3
#define SCSCL_VERSION_H 4
//-------EPROM(读写)--------
#define SCSCL_ID 5
#define SCSCL_BAUD_RATE 6
#define SCSCL_MIN_ANGLE_LIMIT_L 9
#define SCSCL_MIN_ANGLE_LIMIT_H 10
#define SCSCL_MAX_ANGLE_LIMIT_L 11
#define SCSCL_MAX_ANGLE_LIMIT_H 12
#define SCSCL_CW_DEAD 26
#define SCSCL_CCW_DEAD 27
//-------SRAM(读写)--------
#define SCSCL_TORQUE_ENABLE 40
#define SCSCL_GOAL_POSITION_L 42
#define SCSCL_GOAL_POSITION_H 43
#define SCSCL_GOAL_TIME_L 44
#define SCSCL_GOAL_TIME_H 45
#define SCSCL_GOAL_SPEED_L 46
#define SCSCL_GOAL_SPEED_H 47
#define SCSCL_LOCK 48
//-------SRAM(只读)--------
#define SCSCL_PRESENT_POSITION_L 56
#define SCSCL_PRESENT_POSITION_H 57
#define SCSCL_PRESENT_SPEED_L 58
#define SCSCL_PRESENT_SPEED_H 59
#define SCSCL_PRESENT_LOAD_L 60
#define SCSCL_PRESENT_LOAD_H 61
#define SCSCL_PRESENT_VOLTAGE 62
#define SCSCL_PRESENT_TEMPERATURE 63
#define SCSCL_MOVING 66
#define SCSCL_PRESENT_CURRENT_L 69
#define SCSCL_PRESENT_CURRENT_H 70
#include "SCSerial.h"
class SCSCL : public SCSerial
{
public:
SCSCL();
SCSCL(u8 End);
SCSCL(u8 End, u8 Level);
virtual int WritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);//普通写单个舵机位置指令
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)
virtual void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[]);//同步写多个舵机位置指令
virtual int PWMMode(u8 ID);//PWM输出模式
virtual int WritePWM(u8 ID, s16 pwmOut);//PWM输出模式指令
virtual int EnableTorque(u8 ID, u8 Enable);//扭矩控制指令
virtual int unLockEprom(u8 ID);//eprom解锁
virtual int LockEprom(u8 ID);//eprom加锁
virtual int FeedBack(int ID);//反馈舵机信息
virtual int ReadPos(int ID);//读位置
virtual int ReadSpeed(int ID);//读速度
virtual int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
virtual int ReadVoltage(int ID);//读电压
virtual int ReadTemper(int ID);//读温度
virtual int ReadMove(int ID);//读移动状态
virtual int ReadCurrent(int ID);//读电流
private:
u8 Mem[SCSCL_PRESENT_CURRENT_H-SCSCL_PRESENT_POSITION_L+1];
};
#endif