SCSCL.h

/*
 * SCSCL.h
 * 飞特SCSCL系列串行舵机应用层程序
 * 日期: 2024.4.2
 * 作者: 
 */

#ifndef _SCSCL_H
#define _SCSCL_H

//内存表定义
//-------EPROM(只读)--------
#define SCSCL_VERSION_L 3
#define SCSCL_VERSION_H 4

//-------EPROM(读写)--------
#define SCSCL_ID                5
#define SCSCL_BAUD_RATE         6
#define SCSCL_MIN_ANGLE_LIMIT_L 9
#define SCSCL_MIN_ANGLE_LIMIT_H 10
#define SCSCL_MAX_ANGLE_LIMIT_L 11
#define SCSCL_MAX_ANGLE_LIMIT_H 12
#define SCSCL_CW_DEAD           26
#define SCSCL_CCW_DEAD          27

//-------SRAM(读写)--------
#define SCSCL_TORQUE_ENABLE   40
#define SCSCL_GOAL_POSITION_L 42
#define SCSCL_GOAL_POSITION_H 43
#define SCSCL_GOAL_TIME_L     44
#define SCSCL_GOAL_TIME_H     45
#define SCSCL_GOAL_SPEED_L    46
#define SCSCL_GOAL_SPEED_H    47
#define SCSCL_LOCK            48

//-------SRAM(只读)--------
#define SCSCL_PRESENT_POSITION_L  56
#define SCSCL_PRESENT_POSITION_H  57
#define SCSCL_PRESENT_SPEED_L     58
#define SCSCL_PRESENT_SPEED_H     59
#define SCSCL_PRESENT_LOAD_L      60
#define SCSCL_PRESENT_LOAD_H      61
#define SCSCL_PRESENT_VOLTAGE     62
#define SCSCL_PRESENT_TEMPERATURE 63
#define SCSCL_MOVING              66
#define SCSCL_PRESENT_CURRENT_L   69
#define SCSCL_PRESENT_CURRENT_H   70

#include "SCSerial.h"

class SCSCL : public SCSerial {
public:
  SCSCL();
  SCSCL(u8 End);
  SCSCL(u8 End, u8 Level);
  int  WritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);                  //普通写单个舵机位置指令
  int  RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);               //异步写单个舵机位置指令(RegWriteAction生效)
  void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[]);  //同步写多个舵机位置指令
  int  PWMMode(u8 ID);                                                          //PWM模式
  int  WritePWM(u8 ID, s16 pwmOut);                                             //PWM输出模式指令
  int  EnableTorque(u8 ID, u8 Enable);                                          //扭矩控制指令
  int  unLockEprom(u8 ID);                                                      //eprom解锁
  int  LockEprom(u8 ID);                                                        //eprom加锁
  int  FeedBack(int ID);                                                        //反馈舵机信息
  int  ReadPos(int ID);                                                         //读位置
  int  ReadSpeed(int ID);                                                       //读速度
  int  ReadLoad(int ID);                                                        //读输出至电机的电压百分比(0~1000)
  int  ReadVoltage(int ID);                                                     //读电压
  int  ReadTemper(int ID);                                                      //读温度
  int  ReadMove(int ID);                                                        //读移动状态
  int  ReadCurrent(int ID);                                                     //读电流
private:
  u8 Mem[SCSCL_PRESENT_CURRENT_H - SCSCL_PRESENT_POSITION_L + 1];
};

#endif