arbotix_python: ax12.py Source File

Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 
00003 # Copyright (c) 2008-2011 Vanadium Labs LLC. 
00004 # All right reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions are met:
00008 #
00009 #   * Redistributions of source code must retain the above copyright
00010 #     notice, this list of conditions and the following disclaimer.
00011 #   * Redistributions in binary form must reproduce the above copyright
00012 #     notice, this list of conditions and the following disclaimer in the
00013 #     documentation and/or other materials provided with the distribution.
00014 #   * Neither the name of Vanadium Labs LLC nor the names of its 
00015 #     contributors may be used to endorse or promote products derived 
00016 #     from this software without specific prior written permission.
00017 #
00018 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00019 # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00020 # WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021 # DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT,
00022 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
00023 # LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
00024 # OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00025 # LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
00026 # OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00027 # ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Michael Ferguson
00030 
00031 ## @file ax12.py Definitions of AX-12 control table.
00032 
00033 # Control Table Symbolic Constants - EEPROM AREA
00034 P_MODEL_NUMBER_L = 0
00035 P_MODEL_NUMBER_H = 1
00036 P_VERSION = 2
00037 P_ID = 3
00038 P_BAUD_RATE = 4
00039 P_RETURN_DELAY_TIME = 5
00040 P_CW_ANGLE_LIMIT_L = 6
00041 P_CW_ANGLE_LIMIT_H = 7
00042 P_CCW_ANGLE_LIMIT_L = 8
00043 P_CCW_ANGLE_LIMIT_H = 9
00044 P_SYSTEM_DATA2 = 10
00045 P_LIMIT_TEMPERATURE = 11
00046 P_DOWN_LIMIT_VOLTAGE = 12
00047 P_UP_LIMIT_VOLTAGE = 13
00048 P_MAX_TORQUE_L = 14
00049 P_MAX_TORQUE_H = 15
00050 P_RETURN_LEVEL = 16
00051 P_ALARM_LED = 17
00052 P_ALARM_SHUTDOWN = 18
00053 P_OPERATING_MODE = 19
00054 P_DOWN_CALIBRATION_L = 20
00055 P_DOWN_CALIBRATION_H = 21
00056 P_UP_CALIBRATION_L = 22
00057 P_UP_CALIBRATION_H = 23
00058 # Control Table Symbolic Constants - RAM AREA
00059 P_TORQUE_ENABLE = 24
00060 P_LED = 25
00061 P_CW_COMPLIANCE_MARGIN = 26
00062 P_CCW_COMPLIANCE_MARGIN = 27
00063 P_CW_COMPLIANCE_SLOPE = 28
00064 P_CCW_COMPLIANCE_SLOPE = 29
00065 P_GOAL_POSITION_L = 30
00066 P_GOAL_POSITION_H = 31
00067 P_GOAL_SPEED_L = 32
00068 P_GOAL_SPEED_H = 33
00069 P_TORQUE_LIMIT_L = 34
00070 P_TORQUE_LIMIT_H = 35
00071 P_PRESENT_POSITION_L = 36
00072 P_PRESENT_POSITION_H = 37
00073 P_PRESENT_SPEED_L = 38
00074 P_PRESENT_SPEED_H = 39
00075 P_PRESENT_LOAD_L = 40
00076 P_PRESENT_LOAD_H = 41
00077 P_PRESENT_VOLTAGE = 42
00078 P_PRESENT_TEMPERATURE = 43
00079 P_REGISTERED_INSTRUCTION = 44
00080 P_PAUSE_TIME = 45
00081 P_MOVING = 46
00082 P_LOCK = 47
00083 P_PUNCH_L = 48
00084 P_PUNCH_H = 49
00085 
00086 # Status Return Levels
00087 AX_RETURN_NONE = 0
00088 AX_RETURN_READ = 1
00089 AX_RETURN_ALL = 2
00090 
00091 # Instruction Set
00092 AX_PING = 1
00093 AX_READ_DATA = 2
00094 AX_WRITE_DATA = 3
00095 AX_REG_WRITE = 4
00096 AX_ACTION = 5
00097 AX_RESET = 6
00098 AX_SYNC_WRITE = 131
00099 AX_SYNC_READ = 132
00100 
00101 AX_CONTROL_SETUP = 26
00102 AX_CONTROL_WRITE = 27
00103 AX_CONTROL_STAT = 28
00104