Bioloid C++ Project
Bioloid C++ Project
by acy.stapp
Sat Sep 22, 2007 7:14 pm
I've just zipped up the current state of my bioloid project. As a project it's probably useless to you, and in all likelihood won't compile without some changes, but there are several features of interest:
1. A makefile that builds C and C++ files.
2. A fixed point class 'Fixed' that makes using fixed point numbers much easier. It still needs a number of features implemented but that basics for calculation are there.
3. A class 'Dynamixel' that encapsulates the protocol handling for the dynamixel protocol. It provides services to read and write byte and short registers on the AX-12+ and AX-S1. It uses a read-modify-write cycle for EEPROM registers to minimize rewrite cycles and inserts a necessary EEPROM delay. Device status is cached and functions retry as needed to insure reliable operation. No support for SYNC_WRITE at the moment.
4. A class 'Servo' that drives AX-12+ specifically. It converts between the sign-mantissa format the servos require and the fixed point format which is fast to calculate. It also provides a reversing function that is useful for dealing with mirrored construction or when you change the orientation of a servo for mechanical or wiring regions.
It's in my uploads at http://robosavvy.com/Builders/acy.stapp/Example2.zip
Enjoy
1. A makefile that builds C and C++ files.
2. A fixed point class 'Fixed' that makes using fixed point numbers much easier. It still needs a number of features implemented but that basics for calculation are there.
3. A class 'Dynamixel' that encapsulates the protocol handling for the dynamixel protocol. It provides services to read and write byte and short registers on the AX-12+ and AX-S1. It uses a read-modify-write cycle for EEPROM registers to minimize rewrite cycles and inserts a necessary EEPROM delay. Device status is cached and functions retry as needed to insure reliable operation. No support for SYNC_WRITE at the moment.
4. A class 'Servo' that drives AX-12+ specifically. It converts between the sign-mantissa format the servos require and the fixed point format which is fast to calculate. It also provides a reversing function that is useful for dealing with mirrored construction or when you change the orientation of a servo for mechanical or wiring regions.
It's in my uploads at http://robosavvy.com/Builders/acy.stapp/Example2.zip
Enjoy
