Class to implement the HMI Hitec protocol. More...

#include <hitec5980sg.h>

Public Member Functions
short unsigned int	ConvertAngularSpeedToServoSpeed (double angular_speed, unsigned int Servo_type)
	Converts angular speed to servo speed range [1...255]. More...

short int	GetVersionAndID (void)
	Gets servos version and id's. More...

	hitec_5980SG (const char *pdevice)
	Constructor. More...

bool	IsActive (void)
	Checks por activation. More...

short unsigned int	ReleaseServos (void)
	Releases all the servos in the bus. More...

short unsigned int	SetGoStop (short unsigned int value)
	Sends command go/stop to all servos in the bus. More...

short unsigned int	SetPosition (int id, int position)
	Sets the target position of a servo. More...

short unsigned int	SetPositionAllServos (short unsigned int position)
	Sets the target position of all servos in the bus. More...

short unsigned int	SetServoID (int id)
	Sets servo ID. More...

short unsigned int	SetSpeedPosition (int id, int speed)
	Set velocity and read position of the servo. More...

	~hitec_5980SG ()
	De-constructor. More...

Private Member Functions
void	CleanBuffer (void)
	Cleans the buffer. More...

short unsigned int	ReadResponse (char response_1=NULL, char response_2=NULL)
	Reads the response to a command. More...

Private Attributes
bool	active
	This variable indicates that the communication is active. More...

short unsigned int	center
	Center position of the servo. More...

char *	device
	Communication device to use. More...

double	HSR_5498SG_MAX_ANGULAR_SPEED
	Maximum angular speed of the servo HSR-5498SG. More...

double	HSR_5980SG_MAX_ANGULAR_SPEED
	Maximum angular speed of the servo HSR-5980SG. More...

short unsigned int	maximum
	Maximum position of the servo. More...

short unsigned int	minimum
	Minimum position of the servo. More...

int	port
	Communication port to use. More...

Detailed Description

Class to implement the HMI Hitec protocol.

This class is used to communicate and control the hitec5980sg servos that comply with the Hitec HMI servo control protocol.
This protocol is only used in robotic servos and works over a serial line. This line only has one conductor (only one cable for TX and RX), this limitation severely limits the amount of communication with the servos but allows for a large number of servos in only one communication line.

Definition at line 62 of file hitec5980sg.h.

Constructor & Destructor Documentation

hitec_5980SG::hitec_5980SG ( const char * pdevice )

Constructor.

This functions sets the default values for internal variables and opens communication with the servos. The function sends a dummy instruction to initialize servo communications.

Parameters

pdevice Path/name of the device to use in communications

Returns: void

Definition at line 34 of file hitec5980sg.cpp.

hitec_5980SG::~hitec_5980SG ( )

De-constructor.

This function closes the communication with the servos.

Returns: void

Definition at line 106 of file hitec5980sg.cpp.

Member Function Documentation

void hitec_5980SG::CleanBuffer ( void )

private

Cleans the buffer.

This function clean the communication input buffer.

Returns: void

Definition at line 476 of file hitec5980sg.cpp.

short unsigned int hitec_5980SG::ConvertAngularSpeedToServoSpeed	(	double	angular_speed,
		unsigned int	Servo_type
	)

Converts angular speed to servo speed range [1...255].

This function converts a given angular speed in deg/s to the servo digital speed range [1...255].

Parameters

[in]	angular_speed	angular speed as a double.
[in]	Servo_type	one of teo possible types of hitec servomotors.

Returns: void

Definition at line 492 of file hitec5980sg.cpp.

short int hitec_5980SG::GetVersionAndID ( void )

Gets servos version and id's.

This function commands all servos to give away firmware versions and ID's.

Returns: returns the response from the servo or 0xFFFF in case of error

Todo:: You should not do this!, there is a function called ReadResponse to do this part!!

Definition at line 242 of file hitec5980sg.cpp.

bool hitec_5980SG::IsActive ( void )

Checks por activation.

This function checks the COMM port for activity.

Returns: void

Definition at line 436 of file hitec5980sg.cpp.

short unsigned int hitec_5980SG::ReadResponse	(	char *	response_1 = `NULL`,
		char *	response_2 = `NULL`
	)

private

Reads the response to a command.

This function reads the response from the servo. It must be used after every command is sent to the servo.

Returns: returns the response from the servo or 0xFFFF in case of error

Definition at line 441 of file hitec5980sg.cpp.

short unsigned int hitec_5980SG::ReleaseServos ( void )

Releases all the servos in the bus.

This function commands all servos in the bus to release. Any posterior command makes all the servos return to previous position.

Returns: returns the response from the servo or 0xFFFF in case of error

Todo:: You should not do this!, there is a function called ReadResponse to do this part!! | Pedro_Cruz_Response: Indeed! But it doesn't work in this case! Function must be altered to suit all possible responces, because some functions place different information in those two last bytes...

Definition at line 284 of file hitec5980sg.cpp.

short unsigned int hitec_5980SG::SetGoStop ( short unsigned int value )

Sends command go/stop to all servos in the bus.

This function commands all servos in the bus to go/stop. Servos will not change position until order is given.

Parameters

value value for go/stop command [0,1].

Returns: returns the response from the servo or 0xFFFF in case of error

Todo:: You should not do this!, there is a function called ReadResponse to do this part!! | Pedro_Cruz_Response: Indeed! But it doesn't work in this case! Function must be altered to suit all possible responces, because some functions place different information in those two last bytes...

Definition at line 379 of file hitec5980sg.cpp.

short unsigned int hitec_5980SG::SetPosition	(	int	id,
		int	position
	)

Sets the target position of a servo.

This function commands a servo to move to a desired position. This function tests if the position is within the defined servo limits.

Parameters

id	identification of the servo
position	desired position of the servo

Returns: returns the response from the servo or 0xFFFF in case of error

Definition at line 130 of file hitec5980sg.cpp.

short unsigned int hitec_5980SG::SetPositionAllServos ( short unsigned int position )

Sets the target position of all servos in the bus.

This function commands all servos in the bus to move to a desired position. This function tests if the position is within the defined servo limits.

Parameters

position desired position of the servos [600...2400]

Returns: returns the response from the servo or 0xFFFF in case of error

Definition at line 204 of file hitec5980sg.cpp.

short unsigned int hitec_5980SG::SetServoID ( int id )

Sets servo ID.

This function sets ID to a servo, writing in the EEPROM's ID address.

Parameters

id	Value for new ID atempt.

Returns: returns the response from the servo or 0xFFFF in case of error

Todo:: You should not do this!, there is a function called ReadResponse to do this part!! | Pedro_Cruz_Response: Indeed! But it doesn't work in this case! Function must be altered to suit all possible responces, because some functions place different information in those two last bytes...

Definition at line 334 of file hitec5980sg.cpp.

short unsigned int hitec_5980SG::SetSpeedPosition	(	int	id,
		int	speed
	)

Set velocity and read position of the servo.

This function sets the movement speed of a servo.

Parameters

id	identification of the servo
speed	desired speed of the servo

Returns: returns the response from the servo or 0xFFFF in case of error (Current Position!)

Definition at line 170 of file hitec5980sg.cpp.

Member Data Documentation

bool hitec_5980SG::active

private

This variable indicates that the communication is active.

Definition at line 189 of file hitec5980sg.h.

short unsigned int hitec_5980SG::center

private

Center position of the servo.

Definition at line 198 of file hitec5980sg.h.

char* hitec_5980SG::device

private

Communication device to use.

Definition at line 195 of file hitec5980sg.h.

double hitec_5980SG::HSR_5498SG_MAX_ANGULAR_SPEED

private

Maximum angular speed of the servo HSR-5498SG.

Definition at line 210 of file hitec5980sg.h.

double hitec_5980SG::HSR_5980SG_MAX_ANGULAR_SPEED

private

Maximum angular speed of the servo HSR-5980SG.

Definition at line 207 of file hitec5980sg.h.

short unsigned int hitec_5980SG::maximum

private

Maximum position of the servo.

Definition at line 204 of file hitec5980sg.h.

short unsigned int hitec_5980SG::minimum

private

Minimum position of the servo.

Definition at line 201 of file hitec5980sg.h.

int hitec_5980SG::port

private

Communication port to use.

Definition at line 192 of file hitec5980sg.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation