Statistics: Posted by billyzelsnack — Sat Dec 04, 2010 9:09 pm

ID 0XFE is the Broadcasting ID which indicates all of the connected Dynamixel units. Packets sent with this ID apply to all Dynamixel units on the network. Thus packets sent with a broadcasting ID will not return any status packets.

Statistics: Posted by i-Bot — Sat Dec 04, 2010 5:40 pm

Statistics: Posted by billyzelsnack — Sat Dec 04, 2010 4:54 pm

Statistics: Posted by siempre.aprendiendo — Sat Dec 04, 2010 4:35 pm

Statistics: Posted by i-Bot — Sat Dec 04, 2010 2:45 pm

Code:

main() {
  ...
   for() {
      if (adc_position_value_is_ready()) { ... do stuff ... }
      if (adc_power_value_is_ready()) { ... }
      if (twi_data_in_receive_buffer()) { .... }
   }
}

Code:

     registers_write_word(REG_SEEK_POSITION_HI, REG_SEEK_POSITION_LO, pulse_position);
     registers_write_word(REG_SEEK_VELOCITY_HI, REG_SEEK_VELOCITY_LO, 0);

Statistics: Posted by limor — Thu Nov 18, 2010 1:08 pm

Statistics: Posted by limor — Thu Nov 18, 2010 12:43 pm

Statistics: Posted by billyzelsnack — Wed Nov 17, 2010 3:40 pm

Statistics: Posted by MOHIT JINDAL — Wed Nov 17, 2010 5:11 am

Statistics: Posted by limor — Tue Nov 16, 2010 8:33 pm

Statistics: Posted by limor — Tue Nov 09, 2010 10:50 pm

Code:

#include "avr/delay.h"
#include "avr/io.h"
#include "avr/iom8.h"
#include "avr/interrupt.h"
#include "ctype.h"

#define BIT0 0x1
#define BIT1 0x2
#define BIT2 0x4
#define BIT3 0x8
#define BIT4 0x10
#define BIT5 0x20
#define BIT6 0x40
#define BIT7 0x80


#define AX12_PING      0x01
#define AX12_READ      0x02
#define AX12_WRITE      0x03
#define AX12_REG      0x04
#define AX12_ACTION      0x05
#define AX12_RESET      0x06
#define AX12_SYNC_WR   0x83


#define HalfDuplexTransceiver_Port      PORTD
#define HalfDuplexTransceiver_Dir      DDRD
#define HalfDuplexTransceiver_PinOUT   BIT7
#define HalfDuplexTransceiver_PinIN      BIT6

#define Baud9600    207
#define Baud57600   34
#define Baud115200  16
#define Baud500000  3
#define Baud1000000 1
#define Baud2000000 0



#define bit(param) (1<<param>0)?1:0)
#define TXBuffEmpty (((UCSRA&bit(TXC))>0)?1:0)


#define SET_WRITE HalfDuplexTransceiver_Port|=HalfDuplexTransceiver_PinOUT;HalfDuplexTransceiver_Port&=~HalfDuplexTransceiver_PinIN;

#define SET_READ HalfDuplexTransceiver_Port&=~HalfDuplexTransceiver_PinOUT;HalfDuplexTransceiver_Port|=HalfDuplexTransceiver_PinIN;


#define Position_Dir       DDRC
#define Position_Port      PORTC
#define Position_Pin      BIT0
#define Temperature_Dir       DDRC
#define Temperature_Port   PORTC
#define Temperature_Pin      BIT2




#define SERVOBuffer_MAX_SIZE 100

typedef struct SERVO_DATA_STRUCT
{
   uint8_t u8ServoID;
   uint8_t u8ServoInstruction;
   uint8_t u8ServoDataLength;
   uint8_t u8ServoData[SERVOBuffer_MAX_SIZE];
} stServo_Data;



#define UART_Baudrate Baud57600


#define Led      BIT2
#define Led_Port PORTD
#define Led_Dir  DDRD



#define LED_ON  Led_Port &= ~Led;
#define LED_OFF Led_Port |= Led;


#define Motor_Clockwise    BIT1
#define Motor_Anticlockwise   BIT2
#define Motor_Port          PORTB
#define Motor_Dir          DDRB

//#define RotateClockwise     Motor_Port |= Motor_Clockwise;Motor_Port &= ~(Motor_Anticlockwise);
//#define RotateAnticlockwise Motor_Port |= Motor_Anticlockwise;Motor_Port &= ~(Motor_Clockwise);
//#define RotateStop         Motor_Port &= ~(Motor_Clockwise|Motor_Anticlockwise);


uint16_t PWM=1000;
uint16_t Temperature=0;
uint16_t Position=0;




void StopMotor(void)
{
   TCCR1A &= ~(bit(COM1A1)|bit(COM1B1));
   OCR1A = OCR1B = 0;
   Motor_Port&= ~(Motor_Clockwise|Motor_Anticlockwise);
}



int8_t SetPWM(uint16_t pwm)
{
   
   TCCR1A &= ~(bit(COM1A1)|bit(COM1B1));
   OCR1A = OCR1B = 0;
   Motor_Port&= ~(Motor_Clockwise|Motor_Anticlockwise);
   if(pwm==1000)
   {
      TCCR1A &= ~(bit(COM1A1)|bit(COM1B1));
      OCR1A = OCR1B = 0;
      Motor_Port&= ~(Motor_Clockwise|Motor_Anticlockwise);
      return 0;
   }
   else
   if((pwm>1000) && (pwm<=2000))
   {
      TCCR1A &= ~(bit(COM1A1)|bit(COM1B1));
      Motor_Port&= ~(Motor_Anticlockwise);
      TCCR1A |= bit(COM1A1);
      OCR1A = (pwm-1000);
      return 1;
   }
   else
   if((pwm<1000>=0))
   {
      TCCR1A &= ~(bit(COM1A1)|bit(COM1B1));
      Motor_Port&= ~(Motor_Clockwise);
      TCCR1A |= bit(COM1B1);
      OCR1B = (1000-pwm);
      return 1;
   }
   return -1;
}


void InitTimer(void)
{
   //InitTimer0
   TCCR0|=bit(CS01);//assuming the clkIO is 16MHZ, the prescaler devided by 64 wich mean that for 100 positions
   //TCCR0|=bit(CS01);                     // PWM we have 250KHz of timer, meaning this 2500Hz of PWM
   TIMSK |= bit(TOIE0);//enable interrupt
   TCNT0=0x00;


   //Init Timer 1 for PWM
   Motor_Port&= ~(Motor_Clockwise|Motor_Anticlockwise);   

   TCNT1 = 0;
   TCCR1A = 0;
   TCCR1B = 0;
   //TCCR1C = 0;
   //TIMSK1 = 0;

   ICR1=1000; // 10KHz PWM
   
   TCCR1B = (bit(WGM13)|bit(CS10));
   // Set the PWM duty cycle to zero.
   
   OCR1A = 0;
   OCR1B = 0;
   
   StopMotor();
   
}





uint16_t POSITION_AD(void)
{
   uint16_t returned=0;
   uint8_t temp=0;
   while(ADCSRA&bit(ADSC));
   //ADCSRA&=bit(ADIF);
   ADMUX&=~(bit(MUX0)|bit(MUX1)|bit(MUX2)|bit(MUX3));// this select the ad multiplexer to channel ADC0 position input
   //ADCSRA|=bit(ADEN);  // start the conversion processes
   ADCSRA|=(bit(ADSC)|bit(ADEN));  // start the conversion processes
   while(ADCSRA&bit(ADSC));//wait for the end
   temp = ADCL;
   returned = ADCH;
   returned = (returned<<8);
   returned += temp;
   ADCSRA&=(bit(ADEN));
   return ( ADCL + (ADCH<<8)); // this represents a 16bit variable
}


uint16_t TEMPERATURE_AD(void)
{
   uint16_t returned=0;
   uint8_t temp=0;
   while(ADCSRA&bit(ADSC));
   //ADCSRA&=bit(ADIF);
   ADMUX&=~(bit(MUX0)|bit(MUX2)|bit(MUX3));// this select the ad multiplexer to channel ADC0 position input
   ADMUX|=bit(MUX1);
   //ADCSRA|=bit(ADEN);  // start the conversion processes
   ADCSRA|=(bit(ADSC)|bit(ADEN));  // start the conversion processes
   while(ADCSRA&bit(ADSC));//wait for the end
   temp = ADCL;
   returned = ADCH;
   returned = (returned<<8);
   returned += temp;
   ADCSRA&=(bit(ADEN));
   return ( ADCL + (ADCH<<8>0)
   {
      UDR=*Array++;
      while(!TXByteEmpty);
      counter--;
   }
   while(!TXBuffEmpty);
   UCSRA|=bit(TXC);
   SET_READ;

}


void InitSerial(uint16_t SerialSpeed)
{
   
   

   
   UCSRA = bit(U2X);    
   //using double speed
   UCSRB = (/*bit(RXCIE)|bit(UDRIE)|*/bit(RXEN)|bit(TXEN)/*|bit(TXCIE)*/); // enable RX and TX interrupt RX and TX
   UCSRB &= ~(bit(RXB8)|bit(TXB8)|bit(UCSZ2));   // disable  TX and RX nineth bit and reset UCSZ2, this is used with UCSZ1 and UCSZ0 to determine the length of the word
   UCSRC = ~(bit(UMSEL)|bit(UPM0)|bit(UPM1)|bit(USBS)|bit(UCPOL));//disable parity and set assyncronous, set 1stopBit and polarity on rising edge
   UCSRC |= (bit(UCSZ1)|bit(UCSZ0)|bit(UCPOL));
   //   UCSZ2=0 UCSZ1=1 UCSZ0=1 => 8bit length
   UBRRH = ((SerialSpeed)>>8);   //set baud counter high
   UBRRL = (SerialSpeed&0xFF);          //set baud counter low                                                                                             
   //sei();
   UCSRA|=bit(TXC);

}


void PrintDecimal (int Data)
{

   volatile uint16_t counter=5, firstNum=0, result=0, temp=0;
   volatile uint16_t divisor=10000;

   if(Data>0)
   {
      while(counter--)
      {
         result=Data/divisor;
         if( (result>0) || (firstNum==1))
         {
            firstNum=1;
            result+=0x30;
            SendArray((uint8_t *)&result,1);
            result-=0x30;
         }
         Data-=(result*divisor);
         divisor=(divisor/10);
      }
   }
   else
   if(Data<0>0) || (firstNum>0))
         {
            firstNum++;
            result+=0x30;
            if(firstNum==1)
            {
               SendArray("-",1);
            }

            SendArray((uint8_t *)&result,1);
            result-=0x30;
         }
         Data-=(result*divisor);
         divisor=(divisor/10);
      }
   }
   else
   {
      result=0x30;
      SendArray((uint8_t*)&result,1);
   }

}




uint8_t GetChar(uint8_t *c)
{
   if(UCSRA&bit(RXC))
   {
      *c=UDR;   
      return 1;
   }

   return 0;
   
}

void main (void)
{

   uint8_t c=0;
   WDTCR=0;

   Motor_Dir|= (Motor_Clockwise|Motor_Anticlockwise);
   HalfDuplexTransceiver_Dir  |=   (HalfDuplexTransceiver_PinOUT|HalfDuplexTransceiver_PinIN);
   Led_Dir |= Led;
   InitSerial(UART_Baudrate);
   InitTimer();
   //InitADs();
   //RotateStop
   LED_OFF
   sei();
   PWM=1000;
   //ADCSRA&=bit(ADIF); // clear adc interrupt flag
   //SendArray("\n",1);
   while(1)
   {
      //SendArray("Ola Azeiteirinhu\n\r",18);

      if(GetChar(&c))
      {
         if(c==0x2B)
         {
            if(PWM<1990>=10)
            {
               PWM-=10;
               SetPWM(PWM);
            }
            SendArray("\n\rPWM: ",7);
            PrintDecimal(PWM);
         }

         
      }

      //SET_READ;
      /*   SendArray("\rPosition: ",12);
      PrintDecimal(Position);
      SendArray("   Temperature: ",16);
      PrintDecimal(Temperature);
      SendArray("     ",5);*/
      
   }
}




Statistics: Posted by limor — Tue Nov 09, 2010 6:04 pm