/home/benoit/sketchbook/libraries/HerkuleXLib/HkxCommunication.h File Reference

Communication management of the Arduino library for HerkuleX servo (DRS-0101 and DRS-0201 models) More...

#include "Arduino.h"
#include "HkxStatus.h"

Go to the source code of this file.

Classes
class	HkxPrint
	Class to manage the print of the messages. More...
class	HkxCommunication
	Class to manage the communication. More...

Enumerations
enum	hkxBaudrate : uint32_t {   HKX_57600 = 57600, HKX_115200 = 115200, HKX_200000 = 200000, HKX_250000 = 250000,   HKX_400000 = 400000, HKX_500000 = 500000, HKX_666666 = 666666 }
	Baud rate. More...
enum	hkxTorqueControl : uint8_t { HKX_TORQUE_FREE = 0x00, HKX_TORQUE_BREAK = 0x40, HKX_TORQUE_ON = 0x60 }
	Torque control. More...
enum	hkxLEDControl : uint8_t {   HKX_LED_OFF = 0x00, HKX_LED_GREEN = 0x01, HKX_LED_BLUE = 0x02, HKX_LED_RED = 0x04,   HKX_LED_CYAN = 0x03, HKX_LED_YELLOW = 0x05, HKX_LED_PINK = 0x06, HKX_LED_WHITE = 0x07 }
	LED control. More...
enum	hkxControlMode : uint8_t { HKX_CTRL_POSITION = 0x00, HKX_CTRL_ROTATION = 0x01 }
	Control mode. More...
enum	hkxMaybeHasNoValue : bool { HKX_NO_VALUE }
	No value. More...

Detailed Description

Communication management of the Arduino library for HerkuleX servo (DRS-0101 and DRS-0201 models)

Author

Benoit Puel (conta.nosp@m.ct@b.nosp@m.enoit.nosp@m.puel.nosp@m..com)

Version

1.1

Date

26 December 2015

Copyright

This project is released under the GNU GPL V3.

Enumeration Type Documentation

enum hkxBaudrate : uint32_t

Baud rate.

Baud rate of the serial communication with the servos.

• HKX_57600: 57600 (from experience, this baud rate does NOT work properly),
• HKX_115200: 115200 bps,
• HKX_200000: 200000 bps,
• HKX_250000: 250000 bps,
• HKX_400000: 400000 bps,
• HKX_500000: 500000 bps,
• HKX_666666: 666666 bps.

enum hkxControlMode : uint8_t

Control mode.

Control mode to apply:

• HKX_CTRL_POSITION: the servo is control in angle position (angle position)
• HKX_CTRL_ROTATION: the servo is control in continues rotation (angle velocity)

enum hkxLEDControl : uint8_t

LED control.

LED control to apply: off (switch off), green, blue, red, cyan, yellow, pink or white.

• HKX_LED_OFF,
• HKX_LED_GREEN,
• HKX_LED_BLUE,
• HKX_LED_RED,
• HKX_LED_CYAN,
• HKX_LED_YELLOW,
• HKX_LED_PINK,
• HKX_LED_WHITE,

enum hkxMaybeHasNoValue : bool

No value.

No value for HkxMaybe class.

• HKX_NO_VALUE

enum hkxTorqueControl : uint8_t

Torque control.

Torque control to apply:

• HKX_TORQUE_FREE: no resistance to the movements (or let say mechanical resistance only)
• HKX_TORQUE_BREAK: the motor resists but allows the movements
• HKX_TORQUE_ON: the motor maintain its position (don't allow movements)