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| 211 | dhylands | 1 | /**************************************************************************** |
| 2 | * |
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| 3 | * Copyright (c) 2009 Dave Hylands <dhylands@gmail.com> |
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| 4 | * |
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| 5 | * This program is free software; you can redistribute it and/or modify |
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| 6 | * it under the terms of the GNU General Public License version 2 as |
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| 7 | * published by the Free Software Foundation. |
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| 8 | * |
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| 9 | * Alternatively, this software may be distributed under the terms of BSD |
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| 10 | * license. |
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| 11 | * |
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| 12 | * See README and COPYING for more details. |
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| 13 | * |
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| 14 | ****************************************************************************/ |
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| 15 | /** |
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| 16 | * |
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| 17 | * @file BioloidDevice.h |
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| 18 | * |
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| 19 | * @brief Contains definitions for the bioloid generic command interface. |
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| 20 | * |
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| 21 | ****************************************************************************/ |
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| 22 | |||
| 23 | #if !defined( BIOLOIDDEVICE_H ) |
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| 24 | #define BIOLOIDDEVICE_H /**< Include Guard */ |
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| 25 | |||
| 26 | // ---- Include Files ------------------------------------------------------- |
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| 27 | |||
| 28 | #include <stdint.h> |
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| 29 | |||
| 30 | #include "Bioloid.h" |
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| 31 | #include "BioloidBus.h" |
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| 32 | |||
| 33 | /** |
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| 34 | * @addtogroup bioloid |
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| 35 | * @{ |
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| 36 | */ |
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| 37 | |||
| 38 | class BioloidDevice |
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| 39 | { |
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| 40 | public: |
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| 41 | //------------------------------------------------------------------------ |
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| 42 | // Default constructor |
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| 43 | |||
| 44 | BioloidDevice(); |
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| 45 | |||
| 46 | //------------------------------------------------------------------------ |
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| 47 | // Normal constructor |
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| 48 | |||
| 49 | BioloidDevice( BioloidBus *bus, Bioloid::ID_t id ); |
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| 50 | |||
| 51 | //------------------------------------------------------------------------ |
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| 52 | // Destructor |
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| 53 | |||
| 54 | virtual ~BioloidDevice(); |
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| 55 | |||
| 56 | //------------------------------------------------------------------------ |
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| 57 | // Sends a ping packet to this device |
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| 58 | |||
| 59 | void SendPing(); |
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| 60 | |||
| 61 | //------------------------------------------------------------------------ |
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| 62 | // Sends a request to read data from the devices control table |
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| 63 | |||
| 64 | void SendRead( uint8_t offset, uint8_t numBytes ); |
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| 65 | |||
| 66 | //------------------------------------------------------------------------ |
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| 67 | // Sends some data to write into the control table. |
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| 68 | |||
| 69 | void SendWrite( uint8_t offset, uint8_t numBytes, const uint8_t *data ); |
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| 70 | |||
| 71 | //------------------------------------------------------------------------ |
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| 72 | // Sends some data to write into the control table. The write into the |
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| 73 | // control table will be deferred until the ACTION command is sent. |
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| 74 | |||
| 75 | void SendDeferredWrite( uint8_t offset, uint8_t numBytes, const uint8_t *data ); |
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| 76 | |||
| 77 | //------------------------------------------------------------------------ |
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| 78 | // Sends a commands to reset the control table to factory defaults. |
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| 79 | |||
| 80 | void SendReset(); |
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| 81 | |||
| 82 | //------------------------------------------------------------------------ |
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| 83 | // Sets the Bus and ID |
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| 84 | |||
| 85 | void SetBusAndID( BioloidBus *bus, Bioloid::ID_t id ) |
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| 86 | { |
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| 87 | m_bus = bus; |
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| 88 | m_id = id; |
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| 89 | } |
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| 90 | |||
| 91 | protected: |
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| 92 | |||
| 93 | //------------------------------------------------------------------------ |
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| 94 | |||
| 95 | BioloidBus *m_bus; |
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| 96 | Bioloid::ID_t m_id; // The ID of this device |
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| 97 | |||
| 98 | private: |
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| 99 | |||
| 100 | //------------------------------------------------------------------------ |
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| 101 | // The copy constructor and assignment operator are not need for this |
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| 102 | // class so we declare them private and don't provide an implementation. |
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| 103 | |||
| 104 | BioloidDevice( const BioloidDevice & copy ); |
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| 105 | BioloidDevice &operator =( const BioloidDevice &rhs ); |
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| 106 | }; |
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| 107 | |||
| 108 | // ---- Inline Functions ---------------------------------------------------- |
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| 109 | |||
| 110 | /** @} */ |
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| 111 | |||
| 112 | #endif /* BIOLOIDDEVICE_H */ |
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| 113 |