Imported Upstream version 2.1.8.20120216upstream/2.1.8.20120216

1 files changed, 335 insertions, 0 deletions

diff --git a/cphidgetadvancedservo.h b/cphidgetadvancedservo.h
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+#ifndef __CPHIDGETADVANCEDSERVO
+#define __CPHIDGETADVANCEDSERVO
+#include "cphidget.h"
+
+/** \defgroup phidadvservo Phidget Advanced Servo 
+ * \ingroup phidgets
+ * Calls specific to the Phidget Advanced Servo. See the product manual for more specific API details, supported functionality, units, etc.
+ * @{
+ */
+
+DPHANDLE(AdvancedServo)
+CHDRSTANDARD(AdvancedServo)
+
+
+/**
+ * The Phidget Servo Type sets the relationship of degrees to PCM width
+ */
+typedef enum {
+	PHIDGET_SERVO_DEFAULT = 1,			/**< Default - This is what the servo API been historically used, originally based on the Futaba FP-S148 */
+	PHIDGET_SERVO_RAW_us_MODE,			/**< Raw us mode - all position, velocity, acceleration functions are specified in microseconds rather then degrees */
+	PHIDGET_SERVO_HITEC_HS322HD,		/**< HiTec HS-322HD Standard Servo */
+	PHIDGET_SERVO_HITEC_HS5245MG,		/**< HiTec HS-5245MG Digital Mini Servo */
+	PHIDGET_SERVO_HITEC_805BB,			/**< HiTec HS-805BB Mega Quarter Scale Servo */
+	PHIDGET_SERVO_HITEC_HS422,			/**< HiTec HS-422 Standard Servo */
+	PHIDGET_SERVO_TOWERPRO_MG90,		/**< Tower Pro MG90 Micro Servo */
+	PHIDGET_SERVO_HITEC_HSR1425CR,		/**< HiTec HSR-1425CR Continuous Rotation Servo */
+	PHIDGET_SERVO_HITEC_HS785HB,		/**< HiTec HS-785HB Sail Winch Servo */
+	PHIDGET_SERVO_HITEC_HS485HB,		/**< HiTec HS-485HB Deluxe Servo */
+	PHIDGET_SERVO_HITEC_HS645MG,		/**< HiTec HS-645MG Ultra Torque Servo */
+	PHIDGET_SERVO_HITEC_815BB,			/**< HiTec HS-815BB Mega Sail Servo */
+	PHIDGET_SERVO_FIRGELLI_L12_30_50_06_R,	/**< Firgelli L12 Linear Actuator 30mm 50:1*/
+	PHIDGET_SERVO_FIRGELLI_L12_50_100_06_R,	/**< Firgelli L12 Linear Actuator 50mm 100:1*/
+	PHIDGET_SERVO_FIRGELLI_L12_50_210_06_R,	/**< Firgelli L12 Linear Actuator 50mm 210:1*/
+	PHIDGET_SERVO_FIRGELLI_L12_100_50_06_R,	/**< Firgelli L12 Linear Actuator 100mm 50:1*/
+	PHIDGET_SERVO_FIRGELLI_L12_100_100_06_R,/**< Firgelli L12 Linear Actuator 100mm 100:1*/
+	PHIDGET_SERVO_SPRINGRC_SM_S2313M,	/**< SpringRC SM-S2313M Micro Servo*/
+	PHIDGET_SERVO_SPRINGRC_SM_S3317M,	/**< SpringRC SM-S3317M Small Servo*/
+	PHIDGET_SERVO_SPRINGRC_SM_S3317SR,	/**< SpringRC SM-S3317SR Small Continuous Rotation Servo*/
+	PHIDGET_SERVO_SPRINGRC_SM_S4303R,	/**< SpringRC SM-S4303R Standard Continuous Rotation Servo*/
+	PHIDGET_SERVO_SPRINGRC_SM_S4315M,	/**< SpringRC SM-S4315M High Torque Servo*/
+	PHIDGET_SERVO_SPRINGRC_SM_S4315R,	/**< SpringRC SM-S4315R High Torque Continuous Rotation Servo*/
+	PHIDGET_SERVO_SPRINGRC_SM_S4505B,	/**< SpringRC SM-S4505B Standard Servo*/
+	PHIDGET_SERVO_USER_DEFINED
+}  CPhidget_ServoType;
+
+/**
+ * Gets the number of motors supported by this controller
+ * @param phid An attached phidget advanced servo handle.
+ * @param count The motor count.
+ */
+CHDRGET(AdvancedServo,MotorCount,int *count)
+
+/**
+ * Gets the last set acceleration for a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param acceleration The acceleration
+ */
+CHDRGETINDEX(AdvancedServo,Acceleration,double *acceleration)
+/**
+ * Sets the acceleration for a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param acceleration The acceleration
+ */
+CHDRSETINDEX(AdvancedServo,Acceleration,double acceleration)
+/**
+ * Gets the maximum acceleration supported by a motor
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param max The maximum acceleration.
+ */
+CHDRGETINDEX(AdvancedServo,AccelerationMax,double *max)
+/**
+ * Gets the minimum acceleration supported by a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param min The minimum acceleration
+ */
+CHDRGETINDEX(AdvancedServo,AccelerationMin,double *min)
+
+//set velocity
+/**
+ * Gets the last set velocity limit for a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param limit The velocity limit.
+ */
+CHDRGETINDEX(AdvancedServo,VelocityLimit,double *limit)
+/**
+ * Sets the velocity limit for a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param limit The velocity limit.
+ */
+CHDRSETINDEX(AdvancedServo,VelocityLimit,double limit)
+//Actual velocity
+/**
+ * Gets the current velocity of a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param velocity The current velocity.
+ */
+CHDRGETINDEX(AdvancedServo,Velocity,double *velocity)
+/**
+ * Gets the maximum velocity that can be set for a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param max The maximum velocity
+ */
+CHDRGETINDEX(AdvancedServo,VelocityMax,double *max)
+/**
+ * Gets the minimum velocity that can be set for a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param min The minimum velocity.
+ */
+CHDRGETINDEX(AdvancedServo,VelocityMin,double *min)
+/**
+ * Sets a velocity change event handler. This is called when the velocity changes.
+ * @param phid An attached phidget advanced servo handle
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(AdvancedServo,VelocityChange,double velocity)
+
+/**
+ * Gets the current position of a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param position The position.
+ */
+CHDRGETINDEX(AdvancedServo,Position,double *position)
+/**
+ * Sets the position of a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param position The position.
+ */
+CHDRSETINDEX(AdvancedServo,Position,double position)
+/**
+ * Gets the maximum position that a motor can go to.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param max The maximum position.
+ */
+CHDRGETINDEX(AdvancedServo,PositionMax,double *max)
+/**
+ * Sets the maximum position that a motor can go to.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param max The Maximum position.
+ */
+CHDRSETINDEX(AdvancedServo,PositionMax,double max)
+/**
+ * Gets the minimum position that a motor can go to.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param min The minimum position
+ */
+CHDRGETINDEX(AdvancedServo,PositionMin,double *min)
+/**
+ * Sets the minimum position that a motor can go to.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param min The minimum position
+ */
+CHDRSETINDEX(AdvancedServo,PositionMin,double min)
+/**
+ * Sets a position change event handler. This is called when the position changes.
+ * @param phid An attached phidget advanced servo handle
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(AdvancedServo,PositionChange,double position)
+
+/**
+ * Gets the current current draw for a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param current The current.
+ */
+CHDRGETINDEX(AdvancedServo,Current,double *current)
+/**
+ * Sets a current change event handler. This is called when the current draw changes.
+ * @param phid An attached phidget advanced servo handle
+ * @param fptr Callback function pointer.
+ * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
+ */
+CHDREVENTINDEX(AdvancedServo,CurrentChange,double current)
+
+/**
+ * Gets the speed ramping state for a motor. This is whether or not velocity and acceleration are used.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param rampingState The speed ramping state. Possible values are \ref PTRUE and \ref PFALSE.
+ */
+CHDRGETINDEX(AdvancedServo,SpeedRampingOn,int *rampingState)
+/**
+ * Sets the speed ramping state for a motor. This is whether or not velocity and acceleration are used.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param rampingState The speed ramping state. Possible values are \ref PTRUE and \ref PFALSE.
+ */
+CHDRSETINDEX(AdvancedServo,SpeedRampingOn,int rampingState)
+/**
+ * Gets the engaged state of a motor. This is whether the motor is powered or not.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE.
+ */
+CHDRGETINDEX(AdvancedServo,Engaged,int *engagedState)
+/**
+ * Sets the engaged state of a motor. This is whether the motor is powered or not.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param engagedState The engaged state. Possible values are \ref PTRUE and \ref PFALSE.
+ */
+CHDRSETINDEX(AdvancedServo,Engaged,int engagedState)
+/**
+ * Gets the stopped state of a motor. This is true when the motor is not moving and there are no outstanding commands.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param stoppedState The stopped state. Possible values are \ref PTRUE and \ref PFALSE.
+ */
+CHDRGETINDEX(AdvancedServo,Stopped,int *stoppedState)
+/**
+ * Gets the servo type of a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param servoType The servo type.
+ */
+CHDRGETINDEX(AdvancedServo,ServoType,CPhidget_ServoType *servoType)
+/**
+ * Sets the servo type of a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param servoType The servo type.
+ */
+CHDRSETINDEX(AdvancedServo,ServoType,CPhidget_ServoType servoType)
+/**
+ * Sets the servo parameters of a motor.
+ * @param phid An attached phidget advanced servo handle
+ * @param index The motor index.
+ * @param min_us The minimum supported PCM in microseconds.
+ * @param max_us The maximum supported PCM in microseconds.
+ * @param degrees The degrees of rotation defined by the given PCM range.
+ * @param velocity_max The maximum velocity in degrees/second.
+ */
+CHDRSETINDEX(AdvancedServo,ServoParameters,double min_us,double max_us,double degrees,double velocity_max)
+
+#ifndef EXTERNALPROTO
+#define ADVSERVO_MAXSERVOS 8
+
+#define ADVSERVO_NORMAL_PACKET	0x00
+#define ADVSERVO_MINMAX_PACKET	0x10
+
+//Flags - need to match those defined in firmware
+#define MOTOR_DONE_ADVSERVO	 		0x20
+#define MOTOR_DISABLED_ADVSERVO		0x40
+#define NO_RAMPING_FLAG_ADVSERVO	0x80
+
+#define ADVSERVO_PGOOD_FLAG	0x01
+
+//Define the parameters for several servo motors
+struct _CPhidgetServoParameters
+{
+	CPhidget_ServoType servoType;
+	double min_us;
+	double max_us;
+	double us_per_degree;
+	double max_us_per_s;	//velocity in us notation
+	unsigned char state;
+} typedef CPhidgetServoParameters, *CPhidgetServoParametersHandle;
+
+extern const CPhidgetServoParameters Phid_Servo_Types[];
+int getServoParameterIndex(CPhidget_ServoType type);
+PHIDGET21_API double CCONV servo_us_to_degrees(CPhidgetServoParameters params, double us, unsigned char round);
+PHIDGET21_API double CCONV servo_degrees_to_us(CPhidgetServoParameters params, double degrees);
+PHIDGET21_API double CCONV servo_us_to_degrees_vel(CPhidgetServoParameters params, double us, unsigned char round);
+PHIDGET21_API double CCONV servo_degrees_to_us_vel(CPhidgetServoParameters params, double degrees);
+
+PHIDGET21_API int CCONV setupNewAdvancedServoParams(CPhidgetAdvancedServoHandle phid, int Index, CPhidgetServoParameters newVal);
+
+struct _CPhidgetAdvancedServo {
+	CPhidget phid;
+
+	int (CCONV *fptrPositionChange)(CPhidgetAdvancedServoHandle, void *, int, double);
+	int (CCONV *fptrVelocityChange)(CPhidgetAdvancedServoHandle, void *, int, double);
+	int (CCONV *fptrCurrentChange)(CPhidgetAdvancedServoHandle, void *, int, double);
+
+	void *fptrPositionChangeptr;
+	void *fptrVelocityChangeptr;
+	void *fptrCurrentChangeptr;
+
+	//all data is stored as microseconds
+	
+	//data from the device
+	double motorVelocityEcho[ADVSERVO_MAXSERVOS];
+	double motorPositionEcho[ADVSERVO_MAXSERVOS];
+	double motorSensedCurrent[ADVSERVO_MAXSERVOS];
+	unsigned char motorSpeedRampingStateEcho[ADVSERVO_MAXSERVOS];
+	unsigned char motorEngagedStateEcho[ADVSERVO_MAXSERVOS];
+	unsigned char motorStoppedState[ADVSERVO_MAXSERVOS];
+	int packetCounterEcho[ADVSERVO_MAXSERVOS];
+
+	//data from the user
+	double motorPosition[ADVSERVO_MAXSERVOS];
+	double motorAcceleration[ADVSERVO_MAXSERVOS];
+	double motorVelocity[ADVSERVO_MAXSERVOS];
+	unsigned char motorSpeedRampingState[ADVSERVO_MAXSERVOS];
+	unsigned char motorEngagedState[ADVSERVO_MAXSERVOS];
+	int packetCounter[ADVSERVO_MAXSERVOS];
+	double motorPositionMax[ADVSERVO_MAXSERVOS];
+	double motorPositionMin[ADVSERVO_MAXSERVOS];
+	
+	double velocityMax[ADVSERVO_MAXSERVOS], velocityMin;
+	double velocityMaxLimit;
+	double accelerationMax, accelerationMin;
+	double motorPositionMaxLimit, motorPositionMinLimit;
+	
+	unsigned char PGoodErrState;
+
+	CPhidgetServoParameters servoParams[ADVSERVO_MAXSERVOS];
+	char *servoParamString[ADVSERVO_MAXSERVOS];
+
+	unsigned char outputPacket[8];
+	unsigned int outputPacketLen;
+} typedef CPhidgetAdvancedServoInfo;
+
+#endif
+
+/** @} */
+
+#endif