669 lines
18 KiB
C++
669 lines
18 KiB
C++
#include "feetech.h"
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Feetech::Feetech(HardwareSerial& serial, int DE_PIN, int RE_PIN, int TX_PIN, int RX_PIN)
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: serial(serial), DE_PIN(DE_PIN), RE_PIN(RE_PIN), TX_PIN(TX_PIN), RX_PIN(RX_PIN) {
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}
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void Feetech::begin() {
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serial.begin(1000000, SERIAL_8N1, RX_PIN, TX_PIN);
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pinMode(DE_PIN, OUTPUT);
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//pinMode(RE_PIN, OUTPUT);
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setModeReceive();
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}
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void Feetech::syncWritePos(uint8_t* ids, uint16_t* positions, uint16_t* speeds, uint8_t count) {
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const uint8_t DATA_LEN_PER_SERVO = 0x04; // 2 bytes pos + 2 bytes speed
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// Calculate packet length: instruction + address + data length + (count × data per servo)
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uint8_t packetLen = 4 + (count * (1 + DATA_LEN_PER_SERVO)); // instruction + addr + len + servo data
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// Create packet buffer
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uint8_t packet[3 + packetLen]; // 3 header bytes + payload
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uint8_t index = 0;
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// Header
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packet[index++] = 0xFF;
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packet[index++] = 0xFF;
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packet[index++] = BROADCAST_ID;
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packet[index++] = packetLen;
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packet[index++] = SYNCWRITE_DATA;
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packet[index++] = REQUEST_GOAL_POSITION;
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packet[index++] = DATA_LEN_PER_SERVO;
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// Servo data
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uint16_t pos;
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uint16_t speed;
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for (uint8_t i = 0; i < count; i++) {
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packet[index++] = ids[i];
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// if (feetechMode == MODE_SCS) {
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// pos = map(positions[i], 0, 4095, 0, 1023);
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// } else if (feetechMode == MODE_STS) {
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// pos = positions[i];
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// }
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pos = positions[i];
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speed = speeds[i];
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packet[index++] = (uint8_t)((pos >> 8) & 0xFF); // High byte
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packet[index++] = (uint8_t)(pos & 0xFF); // Low byte
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packet[index++] = (uint8_t)((speed >> 8) & 0xFF); // Speed high byte
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packet[index++] = (uint8_t)(speed & 0xFF); // Speed low byte
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}
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// Checksum
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uint8_t checksum = 0;
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for (uint8_t i = 2; i < index; i++) {
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checksum += packet[i];
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}
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checksum = ~checksum;
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// Send packet
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setModeTransmit();
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Serial1.write(packet, index);
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Serial1.write(checksum);
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Serial1.flush();
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setModeReceive();
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clearEcho(sizeof(packet));
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}
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// Send move command to servo id:0-255, position:0-4095
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uint8_t Feetech::sendWritePos(uint8_t id, uint16_t position) {
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uint8_t packet[9];
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packet[0] = 0xFF; // Header
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packet[1] = 0xFF; // Header
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packet[2] = id; // Servo ID
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packet[3] = 5; // Length = instruction + address + 2 bytes + checksum
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packet[4] = WRITE_DATA; // Instruction: WRITE
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packet[5] = 0x2A; // Address: Goal Position
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if (feetechMode == MODE_SCS) {
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packet[6] = (position >> 8) & 0xFF; // High byte
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packet[7] = position & 0xFF; // Low byte
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} else if (feetechMode == MODE_STS) {
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packet[6] = position & 0xFF; // Low byte first for STS
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packet[7] = (position >> 8) & 0xFF; // High byte second
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}
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// Calculate checksum
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uint8_t sum = 0;
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for (int i = 2; i < 8; i++) sum += packet[i];
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packet[8] = ~sum;
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// Send packet
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setModeTransmit();
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serial.write(packet, sizeof(packet));
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serial.flush();
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setModeReceive();
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clearEcho(sizeof(packet));
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// Should later recieve a 1 byte response code packet
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return waitOnData1Byte(10);
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}
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void Feetech::sendPing(uint8_t id) {
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uint8_t packet[6];
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packet[0] = 0xFF; // Header
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packet[1] = 0xFF; // Header
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packet[2] = id; // Servo ID
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packet[3] = 0x02; // Length = instruction + address + checksum
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packet[4] = PING; // Instruction: PING
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// Calculate checksum
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uint8_t sum = 0;
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for (int i = 2; i < 5; i++) sum += packet[i];
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packet[5] = ~sum; // Checksum
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// memcpy(lastSentPacket, packet, sizeof(packet));
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// lastSentLength = sizeof(packet);
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// Send packet
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//Serial.println("PING");
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setModeTransmit();
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//delay(20);
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serial.write(packet, sizeof(packet));
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serial.flush();
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//delay(20);
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setModeReceive();
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clearEcho(sizeof(packet));
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}
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void Feetech::clearEcho(uint8_t length) {
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if (filterEcho) {
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for (int i = 0; i < length; i++) {
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if (serial.available()) serial.read();
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}
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}
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}
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void Feetech::testRequest() {
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uint8_t packet[6] = { 0XFF, 0XFF, 0X00, 0X02, 0X06, 0XF7 };
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uint8_t sum = 0;
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for (int i = 2; i < 5; i++) sum += packet[i]; // Include all data bytes for checksum
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packet[5] = ~sum; // Checksum
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setModeTransmit();
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serial.write(packet, sizeof(packet));
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serial.flush();
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setModeReceive();
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waitOnReply(100);
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}
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uint8_t Feetech::enableTorque(uint8_t id) {
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uint8_t packet[8];
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packet[0] = 0xFF; // Header
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packet[1] = 0xFF; // Header
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packet[2] = id; // Servo ID (ensure this matches the expected ID, e.g., 0x02)
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packet[3] = 0x04; // Length (4 bytes of following data)
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packet[4] = WRITE_DATA; // Instruction
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packet[5] = REQUEST_TORQUE_ENABLE; // Write first address
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packet[6] = 1; // Data to write
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// Calculate checksum
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uint8_t sum = 0;
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for (int i = 2; i < 7; i++) sum += packet[i]; // Include all data bytes for checksum
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packet[7] = ~sum; // Checksum
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setModeTransmit();
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serial.write(packet, 8);
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serial.flush();
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setModeReceive();
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return waitOnData1Byte(10);
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}
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uint8_t Feetech::disableTorque(uint8_t id) {
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uint8_t packet[8];
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packet[0] = 0xFF; // Header
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packet[1] = 0xFF; // Header
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packet[2] = id; // Servo ID (ensure this matches the expected ID, e.g., 0x02)
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packet[3] = 0x04; // Length (4 bytes of following data)
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packet[4] = WRITE_DATA; // Instruction
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packet[5] = REQUEST_TORQUE_ENABLE; // Write first address
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packet[6] = 0; // Data to write
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// Calculate checksum
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uint8_t sum = 0;
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for (int i = 2; i < 7; i++) sum += packet[i]; // Include all data bytes for checksum
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packet[7] = ~sum; // Checksum
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setModeTransmit();
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serial.write(packet, 8);
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serial.flush();
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setModeReceive();
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return waitOnData1Byte(10);
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}
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uint16_t Feetech::getModel(uint8_t id) {
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sendRequest(id, REQUEST_MODEL, 2);
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return waitOnData2Bytes(10);
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}
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uint8_t Feetech::getID(uint8_t id) {
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sendRequest(id, REQUEST_ID, 1);
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return waitOnData1Byte(10);
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}
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uint8_t Feetech::setID(uint8_t id, uint8_t newId) {
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write1Byte(id, REQUEST_ID, newId);
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return waitOnData1Byte(10);
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}
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// Performs entire ID changing routine
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uint8_t Feetech::changeID(uint8_t id, uint8_t newId) {
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setLock(id, 0);
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setID(id, newId);
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setLock(newId, 1);
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}
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uint8_t Feetech::getBaudRate(uint8_t id) {
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sendRequest(id, REQUEST_BAUD_RATE, 1);
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return waitOnData1Byte(10);
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}
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uint16_t Feetech::getMinAngleLimit(uint8_t id) {
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sendRequest(id, REQUEST_MIN_ANGLE_LIMIT, 2);
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if (feetechMode == MODE_STS) {
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return waitOnData2Bytes(10);
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} else if (feetechMode == MODE_SCS) {
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return flipBytes(waitOnData2Bytes(10));
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}
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}
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uint16_t Feetech::setMinAngleLimit(uint8_t id, uint16_t limit) {
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write2Bytes(id, REQUEST_MIN_ANGLE_LIMIT, limit);
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if (feetechMode == MODE_SCS) {
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return flipBytes(waitOnData2Bytes(10));
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} else if (feetechMode == MODE_STS) {
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return waitOnData2Bytes(10);
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}
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}
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uint16_t Feetech::getMaxAngleLimit(uint8_t id) {
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sendRequest(id, REQUEST_MAX_ANGLE_LIMIT, 2);
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if (feetechMode == MODE_SCS) {
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return flipBytes(waitOnData2Bytes(10));
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} else if (feetechMode == MODE_STS) {
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return waitOnData2Bytes(10);
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}
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}
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uint16_t Feetech::setMaxAngleLimit(uint8_t id, uint16_t limit) {
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write2Bytes(id, REQUEST_MAX_ANGLE_LIMIT, limit);
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if (feetechMode == MODE_SCS) {
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return flipBytes(waitOnData2Bytes(10));
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} else if (feetechMode == MODE_STS) {
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return waitOnData2Bytes(10);
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}
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}
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uint8_t Feetech::getCWDeadZone(uint8_t id) {
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sendRequest(id, REQUEST_CW_DEAD_ZONE, 1);
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return waitOnData1Byte(10);
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}
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uint8_t Feetech::getCCWDeadZone(uint8_t id) {
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sendRequest(id, REQUEST_CCW_DEAD_ZONE, 1);
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return waitOnData1Byte(10);
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}
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uint16_t Feetech::getOffset(uint8_t id) {
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sendRequest(id, REQUEST_OFFSET, 2);
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return waitOnData2Bytes(10);
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}
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uint8_t Feetech::getMode(uint8_t id) {
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sendRequest(id, REQUEST_MODE, 1);
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return waitOnData1Byte(10);
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}
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uint8_t Feetech::getTorqueEnable(uint8_t id) {
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sendRequest(id, REQUEST_TORQUE_ENABLE, 1);
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return waitOnData1Byte(10);
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}
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uint8_t Feetech::getAcceleration(uint8_t id) {
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sendRequest(id, REQUEST_ACCELERATION, 1);
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return waitOnData1Byte(10);
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}
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uint16_t Feetech::getGoalPosition(uint8_t id) {
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sendRequest(id, REQUEST_GOAL_POSITION, 2);
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return waitOnData2Bytes(10);
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}
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uint16_t Feetech::getGoalTime(uint8_t id) {
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sendRequest(id, REQUEST_GOAL_TIME, 2);
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return waitOnData2Bytes(10);
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}
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uint16_t Feetech::getGoalSpeed(uint8_t id) {
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sendRequest(id, REQUEST_GOAL_TIME, 2);
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return waitOnData2Bytes(10);
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}
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uint8_t Feetech::getLock(uint8_t id) {
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if (feetechMode == MODE_SCS) {
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sendRequest(id, REQUEST_LOCK_SCS, 1);
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} else if (feetechMode == MODE_STS) {
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sendRequest(id, REQUEST_LOCK_SMS_STS, 1);
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}
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return waitOnData1Byte(10);
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}
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uint8_t Feetech::setLock(uint8_t id, uint8_t lockEnabled) {
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if (feetechMode == MODE_SCS) {
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write1Byte(id, REQUEST_LOCK_SCS, lockEnabled);
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} else if (feetechMode == MODE_STS) {
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write1Byte(id, REQUEST_LOCK_SMS_STS, lockEnabled);
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}
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return waitOnData1Byte(10);
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}
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uint8_t Feetech::getVoltage(uint8_t id) {
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sendRequest(id, REQUEST_VOLTAGE, 1);
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//float voltage = waitOnData1Byte(10) * 0.1;
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return waitOnData1Byte(10);
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}
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uint16_t Feetech::getPosition(uint8_t id) {
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sendRequest(id, REQUEST_POSITION, 2);
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if (feetechMode == MODE_STS) {
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return waitOnData2Bytes(10);
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} else if (feetechMode == MODE_SCS) {
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return map(flipBytes(waitOnData2Bytes(10)), 0, 1023, 0, 4095);
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}
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}
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int16_t Feetech::getSpeed(uint8_t id) {
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sendRequest(id, REQUEST_CURRENT_SPEED, 2);
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int16_t val = waitOnData2Bytes(10);
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if (val < 0) {
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val -= 32767;
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val = -val;
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}
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return val;
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}
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// NOT SURE ABOUT THIS ONE from 0-1000 one direction, 0-2024 the other.
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uint16_t Feetech::getLoad(uint8_t id) {
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sendRequest(id, REQUEST_CURRENT_LOAD, 2);
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return waitOnData2Bytes(10);
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}
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uint8_t Feetech::getTemperature(uint8_t id) {
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sendRequest(id, REQUEST_TEMPERATURE, 1);
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return waitOnData1Byte(10);
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}
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uint8_t Feetech::getMoving(uint8_t id) {
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sendRequest(id, REQUEST_MOVING, 1);
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return waitOnData1Byte(10);
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}
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// Multiplier could be wrong
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uint16_t Feetech::getCurrent(uint8_t id) {
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sendRequest(id, REQUEST_CURRENT_CURRENT, 2);
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//return waitOnData2Bytes(10) * 0.01; FLOAT
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return waitOnData2Bytes(10);
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}
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void Feetech::sendRequest(uint8_t id, byte instruction, uint8_t byteCount) {
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uint8_t packet[8];
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packet[0] = 0xFF; // Header
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packet[1] = 0xFF; // Header
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packet[2] = id; // Servo ID (ensure this matches the expected ID, e.g., 0x02)
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packet[3] = 0x04; // Length (4 bytes of following data)
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packet[4] = READ_DATA; // Instruction
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packet[5] = instruction; // Write first address
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packet[6] = byteCount; // Number of bytes to read
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// Calculate checksum
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uint8_t sum = 0;
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for (int i = 2; i < 7; i++) sum += packet[i]; // Include all data bytes for checksum
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packet[7] = ~sum; // Checksum
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setModeTransmit();
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serial.write(packet, sizeof(packet));
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serial.flush();
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setModeReceive();
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clearEcho(sizeof(packet));
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}
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void Feetech::write1Byte(uint8_t id, byte instruction, uint8_t data) {
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uint8_t packet[8];
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packet[0] = 0xFF; // Header
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packet[1] = 0xFF; // Header
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packet[2] = id; // Servo ID (ensure this matches the expected ID, e.g., 0x02)
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packet[3] = 0x04; // Length (4 bytes of following data)
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packet[4] = WRITE_DATA; // Instruction
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packet[5] = instruction; // Write first address
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packet[6] = data; // Data to write
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// Calculate checksum
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uint8_t sum = 0;
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for (int i = 2; i < 7; i++) sum += packet[i]; // Include all data bytes for checksum
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packet[7] = ~sum; // Checksum
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setModeTransmit();
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serial.write(packet, 8);
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serial.flush();
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setModeReceive();
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}
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void Feetech::write2Bytes(uint8_t id, byte instruction, uint16_t data) {
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uint8_t packet[9];
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packet[0] = 0xFF; // Header
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packet[1] = 0xFF; // Header
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packet[2] = id; // Servo ID
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packet[3] = 5; // Length = instruction + address + 2 bytes + checksum
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packet[4] = WRITE_DATA; // Instruction: WRITE
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packet[5] = instruction; // Address: Goal Position
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if (feetechMode == MODE_SCS) {
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packet[6] = (data >> 8) & 0xFF; // High byte
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packet[7] = data & 0xFF; // Low byte
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} else if (feetechMode == MODE_STS) {
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packet[6] = data & 0xFF; // Low byte first for STS
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packet[7] = (data >> 8) & 0xFF; // High byte second
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}
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// Calculate checksum
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uint8_t sum = 0;
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for (int i = 2; i < 8; i++) sum += packet[i];
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packet[8] = ~sum;
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// Send packet
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setModeTransmit();
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serial.write(packet, sizeof(packet));
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serial.flush();
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setModeReceive();
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clearEcho(sizeof(packet));
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// Should later recieve a 1 byte response code packet
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//return waitOnData2Bytes(10);
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}
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void Feetech::pingAll(std::vector<uint8_t>& successfulAddresses) {
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Serial.println("PINGING ALL 0-255");
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successfulAddresses.clear(); // Clear any previous results
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for (int i = 0; i < 255; i++) {
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//Serial.println(i);
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sendPing(i);
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uint8_t val = waitOnData1Byte(10);
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if (val != 0) {
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//Serial.println(val);
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successfulAddresses.push_back(i); // Store the successful address
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}
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}
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Serial.println("PINGING COMPLETE");
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}
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void Feetech::waitOnReply(unsigned long timeout) {
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unsigned long startTime = millis(); // Record the start time
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while (millis() - startTime < timeout) { // Loop until timeout
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if (serial.available()) {
|
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//Serial.println("RECV");
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uint8_t buffer[32];
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int count = 0;
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|
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// Read all available bytes
|
||
while (serial.available() && count < sizeof(buffer)) {
|
||
buffer[count++] = serial.read();
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}
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||
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//Serial.println(count);
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||
|
||
// Display on Serial
|
||
Serial.print("recv: ");
|
||
Serial.print(buffer[2]);
|
||
Serial.print(" ");
|
||
if (buffer[4] == 0x00) {
|
||
Serial.print("OK");
|
||
} else {
|
||
Serial.print("NOK");
|
||
}
|
||
Serial.print("\t");
|
||
for (int i = 0; i < count; i++) {
|
||
Serial.print("0x");
|
||
if (buffer[i] < 0x10) Serial.print("0");
|
||
Serial.print(buffer[i], HEX);
|
||
Serial.print(" ");
|
||
}
|
||
Serial.println();
|
||
|
||
|
||
break; // Exit the loop after processing the reply
|
||
}
|
||
delay(10); // Small delay to prevent busy-waiting
|
||
}
|
||
}
|
||
|
||
uint8_t Feetech::waitOnData1Byte(unsigned long timeout) {
|
||
unsigned long startTime = millis();
|
||
|
||
while (millis() - startTime < timeout) {
|
||
if (serial.available()) {
|
||
uint8_t buffer[32];
|
||
int count = 0;
|
||
|
||
while (serial.available() && count < sizeof(buffer)) {
|
||
buffer[count++] = serial.read();
|
||
}
|
||
|
||
// Look for valid packet starting with 0xFF 0xFF
|
||
for (int i = 0; i <= count - 4; i++) {
|
||
if (buffer[i] == 0xFF && buffer[i + 1] == 0xFF) {
|
||
uint8_t length = buffer[i + 3];
|
||
int packetSize = length + 4;
|
||
|
||
if (i + packetSize <= count) {
|
||
// Serial.print("recv: ");
|
||
// Serial.print(buffer[i + 2]); // ID
|
||
// Serial.print(" ");
|
||
// Serial.print(buffer[i + 4] == 0x00 ? "OK" : "NOK");
|
||
// Serial.print("\t");
|
||
// for (int j = i; j < i + packetSize; j++) {
|
||
// Serial.print("0x");
|
||
// if (buffer[j] < 0x10) Serial.print("0");
|
||
// Serial.print(buffer[j], HEX);
|
||
// Serial.print(" ");
|
||
// }
|
||
// Serial.println();
|
||
|
||
return buffer[i + 5]; // Return value byte
|
||
}
|
||
}
|
||
}
|
||
}
|
||
delay(1);
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
|
||
|
||
uint16_t Feetech::waitOnData2Bytes(unsigned long timeout) {
|
||
unsigned long startTime = millis();
|
||
|
||
while (millis() - startTime < timeout) {
|
||
if (serial.available()) {
|
||
uint8_t buffer[32];
|
||
int count = 0;
|
||
|
||
while (serial.available() && count < sizeof(buffer)) {
|
||
buffer[count++] = serial.read();
|
||
}
|
||
|
||
// Look for valid packet starting with 0xFF 0xFF
|
||
for (int i = 0; i <= count - 5; i++) {
|
||
if (buffer[i] == 0xFF && buffer[i + 1] == 0xFF) {
|
||
uint8_t length = buffer[i + 3];
|
||
int packetSize = length + 4;
|
||
|
||
if (i + packetSize <= count) {
|
||
// Serial.print("recv: ");
|
||
// Serial.print(buffer[i + 2]); // ID
|
||
// Serial.print(" ");
|
||
// Serial.print(buffer[i + 4] == 0x00 ? "OK" : "NOK");
|
||
// Serial.print("\t");
|
||
// for (int j = i; j < i + packetSize; j++) {
|
||
// Serial.print("0x");
|
||
// if (buffer[j] < 0x10) Serial.print("0");
|
||
// Serial.print(buffer[j], HEX);
|
||
// Serial.print(" ");
|
||
// }
|
||
// Serial.println();
|
||
|
||
// Combine two bytes into a uint16_t (little-endian)
|
||
uint16_t value = buffer[i + 5] | (buffer[i + 6] << 8);
|
||
return value;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
delay(1);
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
void Feetech::sendData(const byte* data, size_t length) {
|
||
// digitalWrite(_transmitPin, HIGH); // Enable transmit mode
|
||
// _serial.write(data, length);
|
||
// _serial.flush(); // Wait for transmission to complete
|
||
// digitalWrite(_transmitPin, LOW); // Disable transmit mode
|
||
}
|
||
|
||
size_t Feetech::receiveData(byte* buffer, size_t bufferSize) {
|
||
size_t bytesRead = 0;
|
||
while (serial.available() > 0 && bytesRead < bufferSize) {
|
||
buffer[bytesRead++] = serial.read();
|
||
}
|
||
return bytesRead;
|
||
}
|
||
|
||
void Feetech::setModeTransmit() {
|
||
// digitalWrite(DE_PIN, HIGH);
|
||
// digitalWrite(RE_PIN, HIGH);
|
||
//delay(10);
|
||
}
|
||
|
||
void Feetech::setModeReceive() {
|
||
// digitalWrite(DE_PIN, LOW);
|
||
// digitalWrite(RE_PIN, LOW);
|
||
//delay(10);
|
||
}
|
||
|
||
uint16_t Feetech::flipBytes(uint16_t value) {
|
||
return (value >> 8) | (value << 8);
|
||
}
|
||
|
||
void Feetech::setFeetechMode(FeetechMode newMode) {
|
||
feetechMode = newMode;
|
||
}
|
||
|
||
// Pass motor model number (major) to set SCS/STS mode
|
||
void Feetech::setFeetechMode(uint8_t modelMajor) {
|
||
feetechMode = static_cast<FeetechMode>(modelMajor);
|
||
}
|
||
|
||
void Feetech::setFeetechMode(uint16_t model) {
|
||
uint8_t major = model & 0xFF; // Get major model
|
||
setFeetechMode(major);
|
||
}
|
||
|
||
void Feetech::update() {
|
||
if (Serial.available()) {
|
||
setModeTransmit();
|
||
while (Serial.available()) {
|
||
char incomingByte = Serial.read(); // Read from USB Serial
|
||
serial.write(incomingByte); // Send to Serial1
|
||
}
|
||
setModeReceive();
|
||
}
|
||
|
||
// Pass data from Serial1 (Feetech) to Serial (USB)
|
||
if (serial.available()) {
|
||
while (serial.available()) {
|
||
char incomingByte = serial.read(); // Read from Serial1
|
||
Serial.write(incomingByte); // Send to USB Serial
|
||
}
|
||
}
|
||
} |