SCSCL.h

/*
* SCSCL.h
* FIT SCSCL series serial servo application layer program
*/

#ifndef _SCSCL_H
#define _SCSCL_H

// Memory table definition
//-------EPROM (read-only)--------
#define SCSCL_VERSION_L 3
#define SCSCL_VERSION_H 4

//-------EPROM (read and write)--------
#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 (read and write)--------
#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 (read only)--------
#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);
    virtual int WritePos(u8 ID, u16 Position, u16 Time, u16 Speed); // Normal write of single servo position command
    virtual int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC); // Single servo position command
	virtual int RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0); // Asynchronously write a single servo position command (RegWriteAction takes effect)
    virtual void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[]); // Synchronously write multiple servo position commands
    virtual int PWMMode(u8 ID); // PWM output mode
    virtual int WritePWM(u8 ID, s16 pwmOut); // PWM output mode command
    virtual int EnableTorque(u8 ID, u8 Enable); // Torque control command
    virtual int unLockEprom(u8 ID); // eprom unlock
    virtual int LockEprom(u8 ID); // eprom lock
    virtual int FeedBack(int ID); // Feedback servo information
    virtual int ReadPos(int ID); // Read position
    virtual int ReadSpeed(int ID); // Read speed
    virtual int ReadLoad(int ID); // Read the output voltage percentage to the motor (0~1000)
    virtual int ReadVoltage(int ID); // Read voltage
    virtual int ReadTemper(int ID); // Read temperature
    virtual int ReadMove(int ID); // Read movement status
    virtual int ReadCurrent(int ID); // read current
	virtual int ReadMode(int ID);
	virtual int CalibrationOfs(u8 ID);
	virtual int ReadInfoValue(int ID, int AddInput);
private:
	u8 Mem[SCSCL_PRESENT_CURRENT_H-SCSCL_PRESENT_POSITION_L+1];
};

#endif