Class to setup the servos. More...

#include <HkxSetup.h>

Public Member Functions
	HkxSetup (HkxCommunication &herkXCom, HkxPrint &print)
	Constructor. More...

uint8_t	getServoInfo (uint8_t ID, HkxMaybe< uint16_t > model, HkxMaybe< uint16_t > version)
	Get model and firmware. More...

uint8_t	getBaudRate (uint8_t ID, hkxBaudrate *baudRate)
	Get the baud rate. More...

uint8_t	setAllBaudRate (const hkxBaudrate &baudrate)
	Set the baud rate for all. More...

uint8_t	setID (uint8_t ID, uint8_t newID)
	Set ID. More...

uint8_t	getPolicies (uint8_t ID, HkxMaybe< uint8_t > newAlarmLEDPolicy, HkxMaybe< uint8_t > newTorquePolicy)
	Get Policies. More...

uint8_t	setOnePolicies (uint8_t ID, uint8_t newAlarmLEDPolicy, uint8_t newTorquePolicy)
	Set policies. More...

uint8_t	setAllPolicies (uint8_t newAlarmLEDPolicy, uint8_t newTorquePolicy)
	Set policies for all. More...

uint8_t	getTemperatureVoltage (uint8_t ID, HkxMaybe< int16_t > maxTemp, HkxMaybe< uint16_t > minVoltage, HkxMaybe< uint16_t > maxVoltage)
	Get temperature and voltage. More...

uint8_t	setOneTemperatureVoltage (uint8_t ID, int16_t newMaxTemp, uint16_t newMinVoltage, uint16_t newMaxVoltage)
	Set temperature and voltage. More...

uint8_t	setAllTemperatureVoltage (int16_t newMaxTemp, int16_t newMinVoltage, int16_t newMaxVoltage)
	Set temperature and voltage for all. More...

uint8_t	getAcceleration (uint8_t ID, HkxMaybe< uint8_t > accelerationRatio, HkxMaybe< uint16_t > maxAccelerationTime)
	Get Acceleration. More...

uint8_t	setOneAcceleration (uint8_t ID, uint8_t newAccelerationRatio, uint16_t newMaxAccelerationTime)
	Set Acceleration. More...

uint8_t	setAllAcceleration (uint8_t newAccelerationRatio, uint16_t newMaxAccelerationTime)
	Set Acceleration for all. More...

uint8_t	getLoadControl (uint8_t ID, HkxMaybe< uint16_t > deadZone, HkxMaybe< uint8_t > saturatorOffSet, HkxMaybe< uint32_t > saturatorSlope, HkxMaybe< int8_t > PWMoffset, HkxMaybe< uint8_t > minPWM, HkxMaybe< uint16_t > maxPWM)
	Get load control. More...

uint8_t	setOneLoadControl (uint8_t ID, uint16_t newDeadZone, uint8_t newSaturatorOffset, const uint32_t &newSaturatorSlope, int8_t newPWMOffset, uint8_t newMinPWM, uint16_t newMaxPWM)
	Set load control parameters. More...

uint8_t	setAllLoadControl (uint16_t newDeadZone, uint8_t newSaturatorOffset, const uint32_t &newSaturatorSlope, int8_t newPWMOffset, uint8_t newMinPWM, uint16_t newMaxPWM)
	Set load control parameters for all. More...

uint8_t	getPWMPositionLimits (uint8_t ID, HkxMaybe< uint16_t > overlaodPWMThreshold, HkxMaybe< int16_t > minPosition, HkxMaybe< int16_t > maxPosition)
	Get PWM and position limits. More...

uint8_t	setOnePWMPositionLimits (uint8_t ID, uint16_t newOverlaodPWMThreshold, int16_t newMinPosition, int16_t newMaxPosition)
	Set PWM and position limits. More...

uint8_t	setAllPWMPositionLimits (uint16_t newOverlaodPWMThreshold, int16_t newMinPosition, int16_t newMaxPosition)
	Set PWM and position limits for all. More...

uint8_t	getControlSystem (uint8_t ID, HkxMaybe< uint16_t > kProportionnal, HkxMaybe< uint16_t > kDerivative, HkxMaybe< uint16_t > kInteger, HkxMaybe< uint16_t > feedforwardGain1, HkxMaybe< uint16_t > feedforwardGain2)
	Get Control System. More...

uint8_t	setOneControlSystem (uint8_t ID, uint16_t kProportionnal, uint16_t kDerivative, uint16_t kInteger, uint16_t feedforwardGain1, uint16_t feedforwardGain2)
	Set Control System. More...

uint8_t	setAllControlSystem (uint16_t kProportionnal, uint16_t kDerivative, uint16_t kInteger, uint16_t feedforwardGain1, uint16_t feedforwardGain2)
	Set Control System for all. More...

uint8_t	getErrorsCheckPeriod (uint8_t ID, HkxMaybe< uint16_t > LEDBlink, HkxMaybe< uint16_t > ADCFault, HkxMaybe< uint16_t > packetGarbage, HkxMaybe< uint16_t > stopDetection, HkxMaybe< uint16_t > overloadDetection)
	Get check periods. More...

uint8_t	setOneErrorsCheckPeriod (uint8_t ID, uint16_t LEDBlink, uint16_t ADCFault, uint16_t packetGarbage, uint16_t stopDetection, uint16_t overloadDetection)
	Set check periods. More...

uint8_t	setAllErrorsCheckPeriod (uint16_t LEDBlink, uint16_t ADCFault, uint16_t packetGarbage, uint16_t stopDetection, uint16_t overloadDetection)
	Set check periods for all. More...

uint8_t	getInPositionCriteria (uint8_t ID, HkxMaybe< uint16_t > stopThreshold, HkxMaybe< uint16_t > inPositionMargin)
	Get in position criteria. More...

uint8_t	setOneInPositionCriteria (uint8_t ID, uint16_t stopThreshold, uint16_t inPositionMargin)
	Set in position criteria. More...

uint8_t	setAllInPositionCriteria (uint16_t stopThreshold, uint16_t inPositionMargin)
	Set in position criteria for all. More...

uint8_t	getTorqueLEDControl (uint8_t ID, HkxMaybe< hkxTorqueControl > torqueControl, HkxMaybe< hkxLEDControl > LEDControl)
	Get torque actuation and LED colour. More...

uint8_t	setOneTorqueLEDControl (uint8_t ID, hkxTorqueControl newTorqueControl, hkxLEDControl newLEDControl)
	Set torque actuation and LED colour. More...

uint8_t	setAllTorqueLEDControl (hkxTorqueControl newTorqueControl, hkxLEDControl newLEDControl)
	Set torque actuation and LED colour for all. More...

uint8_t	getBehaviour (uint8_t ID, HkxMaybe< uint16_t > voltage, HkxMaybe< uint16_t > temperature, HkxMaybe< hkxControlMode > controlMode, HkxMaybe< uint16_t > tick, HkxMaybe< int16_t > absolutePosition, HkxMaybe< int16_t > velocity, HkxMaybe< uint16_t > PWM, HkxMaybe< int16_t > absoluteGoalPosition, HkxMaybe< int16_t > absoluteDesiredTrajectoryPosition, HkxMaybe< int16_t > desiredVelocity)
	Get behaviour. More...

uint8_t	getStatus (uint8_t ID, HkxStatus &statusED)
	Get status. More...

uint8_t	clearOneStatus (uint8_t ID)
	Clear status. More...

uint8_t	clearAllStatus ()
	Clear status for all. More...

void	scanIDs (boolean IDs[])
	Scan IDs. More...

uint8_t	factoryResetOne (uint8_t ID, boolean IDskip, boolean baudrateSkip)
	Factory reset. More...

uint8_t	factoryResetAll (boolean IDskip, boolean baudrateSkip)
	Factory reset for all. More...

uint8_t	rebootOne (uint8_t ID)
	Reboot. More...

void	rebootAll ()
	Reboot. More...

Private Attributes
HkxCommunication &	_herkXCom

HkxPrint &	_print

Detailed Description

Class to setup the servos.

This class allows to setup the servos.

Constructor & Destructor Documentation

HkxSetup::HkxSetup	(	HkxCommunication &	herkXCom,
		HkxPrint &	print
	)

inline

Constructor.

The constructor of HkxSetup.

Parameters

[in]	herkXCom	: Communication with the servos.
[in]	print	: Communication to print messages.

Member Function Documentation

uint8_t HkxSetup::clearAllStatus ( )

inline

Clear status for all.

Clear the status of the servo to leave the "error state" and stop the LED blink and torque deactivation.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::clearOneStatus ( uint8_t ID )

inline

Clear status.

Clear the status of the servo to leave the "error state" and stop the LED blink and torque deactivation.

Parameters

[in] ID : ID of the servo to address the request. The value shall be [0 ; 254] (254 means all servos).

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::factoryResetAll	(	boolean	IDskip,
		boolean	baudrateSkip
	)

inline

Factory reset for all.

Reset all the parameters to factory default values.

Parameters

[in]	IDskip	: If `true`, the ID is NOT reset. If `false`, the ID is reset.
[in]	baudrateSkip	: If `true`, the baud rate is NOT reset. If `false`, the baud rate is reset.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::factoryResetOne	(	uint8_t	ID,
		boolean	IDskip,
		boolean	baudrateSkip
	)

inline

Factory reset.

Reset all the parameters to factory default values.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[in]	IDskip	: If `true`, the ID is NOT reset. If `false`, the ID is reset.
[in]	baudrateSkip	: If `true`, the baud rate is NOT reset. If `false`, the baud rate is reset.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::getAcceleration	(	uint8_t	ID,
		HkxMaybe< uint8_t >	accelerationRatio,
		HkxMaybe< uint16_t >	maxAccelerationTime
	)

Get Acceleration.

Get the current acceleration parameters of the servo in the RAM. The servo generates a trapezoidal velocity trajectory profile (see figure below) according to play time given by the user (see for instance HkxPosControl.movePosition()) where: acceleration time = deceleration time = min (playtime x accelerationRatio / 100, maxAccelerationTime).

if (playtime x accelerationRatio / 100) < maxAccelerationTime   if (playtime x accelerationRatio / 100) > maxAccelerationTime
            V |                                                        V |          ______________                   
            e |         /*\                                            e |         /*            *\                      
            l |        / * \                                           l |        / *            * \                 
            o |       /  *  \                                          o |       /  *            *  \                
            c |      /   *   \                                         c |      /   *            *   \                   
            i |     /    *    \                                        i |     /    *            *    \                  
            t |    /     *     \                                       t |    /     *            *     \                 
            y |   /      *      \                                      y |   /      *            *      \                
              |  /       *       \                                       |  /       *            *       \               
              | /        *        \                                      | /        *            *        \              
              |/_________*_________\________ Time                        |/_________*____________*_________\________ Time
              < Acc time> <Dec time >                                    < Acc time >            < Dec time >            
              <----- Play time ----->                                    <----------- Play time ------------>

Parameters

[in]	ID	: id of the servo to address the request. The value shall be [0 ; 253].
[out]	accelerationRatio	: Acceleration ratio considered to generate velocity trajectory. Its value is given in percent (%). This parameter is optional, either set the address of `uint8_t` (or `byte`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	maxAccelerationTime	: Maximum acceleration time to generate velocity trajectory. Its value is given in milliseconds. This parameter is optional, either set the address of `uint16_t` (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getBaudRate	(	uint8_t	ID,
		hkxBaudrate *	baudRate
	)

Get the baud rate.

Get the baud rate from the servo settings from EEP memory.

Parameters

[in]	ID	: id of the servo to address the request. The value shall be [0 ; 253].
[out]	baudRate	: Baud rate setup in the servo. This parameter is a point, then set the address of hkxBaudrate variable.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getBehaviour	(	uint8_t	ID,
		HkxMaybe< uint16_t >	voltage,
		HkxMaybe< uint16_t >	temperature,
		HkxMaybe< hkxControlMode >	controlMode,
		HkxMaybe< uint16_t >	tick,
		HkxMaybe< int16_t >	absolutePosition,
		HkxMaybe< int16_t >	velocity,
		HkxMaybe< uint16_t >	PWM,
		HkxMaybe< int16_t >	absoluteGoalPosition,
		HkxMaybe< int16_t >	absoluteDesiredTrajectoryPosition,
		HkxMaybe< int16_t >	desiredVelocity
	)

Get behaviour.

Get the current behaviour of the servo.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[out]	voltage	: Current servo input voltage. Its value is given in millivolts. This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	temperature	: Current temperature of the servo. Its value is given in 10^-2 °C (degree Celsius). This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	controlMode	: Control mode of the current move, can be position control (`HKX_CTRL_POSITION`), or continuous rotation (`HKX_CTRL_ROTATION`). This parameter is optional, either set the address of a hkxControlMode variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	tick	: Current operating time of the servo. Its value is given in milliseconds). This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	absolutePosition	: Current angle position of the servo. Its value is given in 10^-1 degrees. This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	velocity	: Current angle velocity of the servo. Its value is given in degree / second. This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	PWM	: Current PWM (load) of the servo. Its value is given in PWM (raw). This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	absoluteGoalPosition	: Goal position of the current move of the servo. Its value is given in 10^-1 degrees. This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	absoluteDesiredTrajectoryPosition	: Current trajectory position - desired position at a given time according the trajectory - of the servo. Its value is given in 10^-1 degrees. This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.
[out]	desiredVelocity	: Current trajectory velocity - desired velocity at a given time according the trajectory - of the servo. Its value is given in degree / second. This parameter is optional, either set the address of a `uint16_t` (or `unsigned` `int`) variable to return the value, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getControlSystem	(	uint8_t	ID,
		HkxMaybe< uint16_t >	kProportionnal,
		HkxMaybe< uint16_t >	kDerivative,
		HkxMaybe< uint16_t >	kInteger,
		HkxMaybe< uint16_t >	feedforwardGain1,
		HkxMaybe< uint16_t >	feedforwardGain2
	)

Get Control System.

Get the current control system of the servo in the RAM.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[out]	kProportionnal	: Proportional gain, when its value increase, the response time decreases but may lead to over response (vibration, overshoot). Its value is given with no unit. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	kDerivative	: Derivative gain, when its value increase, the over response is attenuated but may lead to instability. Its value is given with no unit. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	kInteger	: Integral gain, when its value increase, reduce the position offset error in steady state but may lead response lag. Its value is given with no unit. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	feedforwardGain1	: Position feed forward 1st gain, when its value increase, the response time decreases. Its value is given with no unit. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	feedforwardGain2	: Position feed forward 2nd gain, when its value increase, the response time decreases. Its value is given with no unit. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getErrorsCheckPeriod	(	uint8_t	ID,
		HkxMaybe< uint16_t >	LEDBlink,
		HkxMaybe< uint16_t >	ADCFault,
		HkxMaybe< uint16_t >	packetGarbage,
		HkxMaybe< uint16_t >	stopDetection,
		HkxMaybe< uint16_t >	overloadDetection
	)

Get check periods.

Get the current check periods for de different errors of the servo in the RAM.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[out]	LEDBlink	: Check period for the alarm LED policy to activate LED blinking. Its value is given in milliseconds. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	ADCFault	: Check period for temperature and input voltage error (when temperature > max temperature or voltage < min voltage or voltage > max voltage). Its value is given in milliseconds. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	packetGarbage	: Check period for incomplete packet error. Its value is given in milliseconds. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	stopDetection	: Check period for the servo stoppage. Its value is given in milliseconds. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	overloadDetection	: Check period for the overload PWM threshold. Its value is given in milliseconds. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getInPositionCriteria	(	uint8_t	ID,
		HkxMaybe< uint16_t >	stopThreshold,
		HkxMaybe< uint16_t >	inPositionMargin
	)

Get in position criteria.

Get the current in position criteria of the servo in the RAM.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[out]	stopThreshold	: Under this angle displacement, the servo is seen as not moving. Its value is given in 10^-1 degrees. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	inPositionMargin	: Minimum angle distance to determine the goal position reached. Its value is given in 10^-1 degrees. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getLoadControl	(	uint8_t	ID,
		HkxMaybe< uint16_t >	deadZone,
		HkxMaybe< uint8_t >	saturatorOffSet,
		HkxMaybe< uint32_t >	saturatorSlope,
		HkxMaybe< int8_t >	PWMoffset,
		HkxMaybe< uint8_t >	minPWM,
		HkxMaybe< uint16_t >	maxPWM
	)

Get load control.

Get the current load control parameters of the servo in the RAM. The load control parameters define the saturation curve according to the figure below.

         PWM+
          |  ___________........................................ PWM max
          |             \
          |              \ Saturator slope
          |               \..................................... Saturator offset
          |                |<dead zone> <dead zone>
          |                |___________ ........................ PWM min
          |                            |
          |  --------------------------|------------------------ PWM offset
          |                            |__________
Position- |____________________________*__________|_____________ Position+
          |                          goal         |
          |                        position        \
          |                                         \__________
          |
         PWM-

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[out]	deadZone	: The dead zone is the angle error before the servo applies a load compensation to maintain its position (see the figure above). Its value is given in 10^-1 degrees. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	saturatorOffSet	: The saturator offset is the step PWM value of the saturator once deadzone the position goes out of the dead zone (see the figure above). Its value is given set in PWM. This parameter is optional, either set the address of `uint8_t` (or `byte`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	saturatorSlope	: The saturator slop is a gradient of the saturator, going from the saturator offset and increasing gradually the PWM with the error position to the goal (see the above figure). It provides a flexible and elastic response of the servo to external forces. Its value is given in 10^-2 PWM / degree. This parameter is optional, either set the address of `uint32_t` (or `unsigned` `long`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	PWMoffset	: The PWM offset allows compensating permanent load (e.g. gravity) by shifting the saturator by the same value (see the above figure). Its value is given in PWM. This parameter is optional, either set the address of `uint8_t` (or `byte`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	minPWM	: The min PWM is the minimum PWM that is applied by the servo (see the above figure). As specified in the user manual p.37, this may lead to unstable system. The value is given in PWM. This parameter is optional, either set the address of `uint8_t` (or `byte`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	maxPWM	: The max PWM is the maximum PWM that is applied by the servo (see the above figure). It could be used to limit the load of the servo, to avoid damages or injuries for instance. The value is given in PWM. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getPolicies	(	uint8_t	ID,
		HkxMaybe< uint8_t >	newAlarmLEDPolicy,
		HkxMaybe< uint8_t >	newTorquePolicy
	)

Get Policies.

Get the current Alarm LED policy and Torque policy of the servo in the RAM.

Parameters

[in]	ID	: current id of the servo to address the request. The value shall be [0 ; 253].
[out]	newAlarmLEDPolicy	: Alarm LED policy. See the user manual p.33 for more details. This parameter is optional, either set the address of `uint8_t` (or `byte`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	newTorquePolicy	: Torque policy. See the user manual p.33 for more details. This parameter is optional, either set the address of `uint8_t` (or `byte`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getPWMPositionLimits	(	uint8_t	ID,
		HkxMaybe< uint16_t >	overlaodPWMThreshold,
		HkxMaybe< int16_t >	minPosition,
		HkxMaybe< int16_t >	maxPosition
	)

Get PWM and position limits.

Get the current PWM and position limits of the servo in the RAM. Over these defined limits, the servo is switching to error mode.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[out]	overlaodPWMThreshold	: The overload PWM threshold is the limits off PWM load from which the servo switches to error mode. Its value is given in PWM. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	minPosition	: The min position is the lower limit position (given compare to the neutral position = 512 raw) the servo is allowed to move before switching to error mode. It can be used to avoid collisions for instance. Its value is given set in 10^-1 degrees. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	maxPosition	: The max position is the upper limit position (given compare to the neutral position = 512 raw) the servo is allowed to move before switching to error mode. It can be used to avoid collisions for instance. Its value is given set in 10^-1 degrees. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getServoInfo	(	uint8_t	ID,
		HkxMaybe< uint16_t >	model,
		HkxMaybe< uint16_t >	version
	)

Get model and firmware.

Get the model and the firmware version of the servo from EEP memory.

Parameters

[in]	ID	: id of the servo to address the request. The value shall be [0 ; 253].
[out]	model	: Model of the servo (DRS-0101 returns 0x0101, DRS-0201 returns 0x0201). This parameter is optional, either set the address of `uint16_t` (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	version	: Version of the firmware. This parameter is optional, either set the address of `uint16_t` (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getStatus	(	uint8_t	ID,
		HkxStatus &	statusED
	)

Get status.

Get the status of the servo.

Parameters

[in]	ID	: id of the servo to address the request. The value shall be [0 ; 253].
[out]	statusED	: Current status of the servo.

Returns: 0 = OK
1 = bad input parameter
2 = no data received
3 = received data are not consistent

uint8_t HkxSetup::getTemperatureVoltage	(	uint8_t	ID,
		HkxMaybe< int16_t >	maxTemp,
		HkxMaybe< uint16_t >	minVoltage,
		HkxMaybe< uint16_t >	maxVoltage
	)

Get temperature and voltage.

Get the current max temperature, and min and max voltages of the servo in the RAM.

Parameters

[in]	ID	: current id of the servo to address the request. The value shall be [0 ; 253].
[out]	maxTemp	: Maximum allowed temperature. Exceeding this temperature switch the servo to error. This parameter is optional, either set the address of `uint16_t` (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	minVoltage	: Minimum allowed voltage value. Under this input voltage, the servo switches to error. This parameter is optional, either set the address of `uint16_t` (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	maxVoltage	: Maximum allowed voltage value. Over this input voltage, the servo switches to error. This parameter is optional, either set the address of `uint16_t` (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::getTorqueLEDControl	(	uint8_t	ID,
		HkxMaybe< hkxTorqueControl >	torqueControl,
		HkxMaybe< hkxLEDControl >	LEDControl
	)

Get torque actuation and LED colour.

Get the current torque actuation and LED colour of the servo in the RAM.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[out]	torqueControl	: Torque actuator. This parameter is optional, either set the address of hkxTorqueControl variable, or set `HKX_NO_VALUE` to ignore it.
[out]	LEDControl	: LED colour. This parameter is optional, either set the address of hkxLEDControl variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

void HkxSetup::rebootAll ( )

inline

Reboot.

Reboot all the servo.

uint8_t HkxSetup::rebootOne ( uint8_t ID )

inline

Reboot.

Reboot the servo.

Parameters

[in] ID : ID of the servo to address the request. The value shall be [0 ; 253].

Returns: 0 = OK
1 = Input not correct

void HkxSetup::scanIDs ( boolean IDs[] )

Scan IDs.

Scan all the IDs to check witch servos are connected and their ID.

Parameters

[out] IDs[] : Array of 254 booleans. When IDs[i] = true, the servo with ID = i is connected. When false, the servo is NOT connected.

Returns: 0 = OK
1 = Input not correct
2 = no data received
3 = received data are not consistent

uint8_t HkxSetup::setAllAcceleration	(	uint8_t	newAccelerationRatio,
		uint16_t	newMaxAccelerationTime
	)

inline

Set Acceleration for all.

Modify the acceleration parameters of the servo in both EEP and RAM. The servo generates a trapezoidal velocity trajectory profile (see figure below) according to play time given by the user (see for instance HkxPosControl.movePosition()) where: acceleration time = deceleration time = min (playtime x accelerationRatio / 100, maxAccelerationTime).

if (playtime x accelerationRatio / 100) < maxAccelerationTime   if (playtime x accelerationRatio / 100) > maxAccelerationTime
            V |                                                        V |          ______________                   
            e |         /*\                                            e |         /*            *\                      
            l |        / * \                                           l |        / *            * \                 
            o |       /  *  \                                          o |       /  *            *  \                
            c |      /   *   \                                         c |      /   *            *   \                   
            i |     /    *    \                                        i |     /    *            *    \                  
            t |    /     *     \                                       t |    /     *            *     \                 
            y |   /      *      \                                      y |   /      *            *      \                
              |  /       *       \                                       |  /       *            *       \               
              | /        *        \                                      | /        *            *        \              
              |/_________*_________\________ Time                        |/_________*____________*_________\________ Time
              < Acc time> <Dec time >                                    < Acc time >            < Dec time >            
              <----- Play time ----->                                    <----------- Play time ------------>

Parameters

[in]	newAccelerationRatio	: Acceleration ratio considered to generate velocity trajectory. Its value shall be set in percent (%) within the range [0 ; 50%].
[in]	newMaxAccelerationTime	: Maximum acceleration time to generate velocity trajectory. Its value shall be set in milliseconds within the range [0 ; 2845ms].

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setAllBaudRate ( const hkxBaudrate & baudrate )

Set the baud rate for all.

Modify the baud rate for all the servos in EEP memory. A reboot of all the servos is performed at the same time the communication serial port is restarted with the new baud rate.

Warning: From experience, the baud rate 57600 does NOT work properly. Please avoid using it.

Parameters

[in]

baudrate

: Baud rate to apply to the servos and the communication port. The possible values are:

HKX_57600 : 57600 bps
HKX_115200 : 115200 bps
HKX_200000 : 200000 bps
HKX_250000 : 250000 bps
HKX_400000 : 400000 bps
HKX_500000 : 500000 bps
HKX_666666 : 666666 bps

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setAllControlSystem	(	uint16_t	kProportionnal,
		uint16_t	kDerivative,
		uint16_t	kInteger,
		uint16_t	feedforwardGain1,
		uint16_t	feedforwardGain2
	)

inline

Set Control System for all.

Modify the control system of the servo in both EEP and RAM.

Parameters

[in]	kProportionnal	: Proportional gain, when its value increase, the response time decreases but may lead to over response (vibration, overshoot). Its value shall be set with no unit within the range [0 ; 32767]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[in]	kDerivative	: Derivative gain, when its value increase, the over response is attenuated but may lead to instability. Its value shall be set with no unit within the range [0 ; 32767]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[in]	kInteger	: Integral gain, when its value increase, reduce the position offset error in steady state but may lead response lag. Its value shall be set with no unit within the range [0 ; 32767]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[in]	feedforwardGain1	: Position feed forward 1st gain, when its value increase, the response time decreases. Its value shall be set with no unit within the range [0 ; 32767]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[in]	feedforwardGain2	: Position feed forward 2nd gain, when its value increase, the response time decreases. Its value shall be set with no unit within the range [0 ; 32767]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setAllErrorsCheckPeriod	(	uint16_t	LEDBlink,
		uint16_t	ADCFault,
		uint16_t	packetGarbage,
		uint16_t	stopDetection,
		uint16_t	overloadDetection
	)

inline

Set check periods for all.

Modify the check periods for de different errors of the servo in both EEP and RAM.

Parameters

[in]	LEDBlink	: Check period for the alarm LED policy to activate LED blinking. Its value shall be set in milliseconds within the range [0 ; 2845ms].
[in]	ADCFault	: Check period for temperature and input voltage error (when temperature > max temperature or voltage < min voltage or voltage > max voltage). Its value shall be set in milliseconds within the range [0 ; 2845ms].
[in]	packetGarbage	: Check period for incomplete packet error. Its value shall be set in milliseconds within the range [0 ; 2845ms].
[out]	stopDetection	: Check period for the servo stoppage. Its value shall be set in milliseconds within the range [0 ; 2845ms].
[in]	overloadDetection	: Check period for the overload PWM threshold. Its value shall be set in milliseconds within the range [0 ; 2845ms].

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setAllInPositionCriteria	(	uint16_t	stopThreshold,
		uint16_t	inPositionMargin
	)

inline

Set in position criteria for all.

Modify the in position criteria of the servo in both EEP and RAM.

Parameters

[in]	stopThreshold	: Under this angle displacement, the servo is seen as not moving. Its value shall be set in 10^-1 degrees within the range [0 ; 82.8°]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[in]	inPositionMargin	: Minimum angle distance to determine the goal position reached. Its value shall be set in 10^-1 degrees within the range [0 ; 82.8°]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setAllLoadControl	(	uint16_t	newDeadZone,
		uint8_t	newSaturatorOffset,
		const uint32_t &	newSaturatorSlope,
		int8_t	newPWMOffset,
		uint8_t	newMinPWM,
		uint16_t	newMaxPWM
	)

inline

Set load control parameters for all.

Modify the load control parameters of the servo in both EEP and RAM. The load control parameters define the saturation curve according to the figure below.

         PWM+
          |  ___________........................................ PWM max
          |             \
          |              \ Saturator slope
          |               \..................................... Saturator offset
          |                |<dead zone> <dead zone>
          |                |___________ ........................ PWM min
          |                            |
          |  --------------------------|------------------------ PWM offset
          |                            |__________
Position- |____________________________*__________|_____________ Position+
          |                          goal         |
          |                        position        \
          |                                         \__________
          |
         PWM-

Parameters

[in]	newDeadZone	: The dead zone is the angle error before the servo applies a load compensation to maintain its position (see the above figure). Its value shall be set in 10^-1 degrees within the range [0 ; 82.8°].
[in]	newSaturatorOffset	: The saturator offset is the step PWM value of the saturator once dead zone the position goes out of the dead zone (see the above figure). Its value shall be set in PWM within the range [0 ; 254].
[in]	newSaturatorSlope	: The saturator slop is a gradient of the saturator, going from the saturator offset and increasing gradually the PWM with the error position to the goal (see the above figure). It provides a flexible and elastic response of the servo to external forces. Its value shall be set in 10^-2 PWM / degree within the range [0 ; 393 PWM/degree].
[in]	newPWMOffset	: The PWM offset allows compensating permanent load (e.g. gravity) by shifting the saturator by the same value (see the above figure). Its value shall be set in PWM within the range [-128 ; 127].
[in]	newMinPWM	: The min PWM is the minimum PWM that is applied by the servo (see the above figure). As specified in the user manual p.37, this may lead to unstable system. Use 0 as default value. The value shall be set in PWM within the range [0 ; 254].
[in]	newMaxPWM	: The max PWM is the maximum PWM that is applied by the servo (see the above figure). It could be used to limit the load of the servo, to avoid damages or injuries or instance. The value shall be set in PWM within the range [0 ; 1023].

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setAllPolicies	(	uint8_t	newAlarmLEDPolicy,
		uint8_t	newTorquePolicy
	)

inline

Set policies for all.

Modify the current Alarm LED policy and Torque policy of all servos in both EEP and RAM. For easier definition the following constants can be used.

HKX_STAT_VOLTAGE : Exceed Input Voltage limit
HKX_STAT_POSITION : Exceed allowed POT limit
HKX_STAT_TEMPERATURE : Exceed Temperature limit
HKX_STAT_PACKET : Invalid Packet
HKX_STAT_OVERLOAD : Overload detected
HKX_STAT_DRIVER : Driver fault detected
HKX_STAT_ROM_DISTORTED : EEP REG distorted

HKX_STAT_ALL : all the list

Parameters

[in]	newAlarmLEDPolicy	: Alarm LED policy. See the user manual p.33 for more details. It can be easily setup thanks the below constants. For instance, the setting `HKX_STAT_VOLTAGE` & `HKX_STAT_POSITION` to start the LED alarm for any of this two errors.
[in]	newTorquePolicy	: Torque policy. See the user manual p.33 for more details. It can be easily setup thanks the below constants. For instance, the setting `HKX_STAT_TEMPERATURE` & `HKX_STAT_OVERLOAD` & `HKX_STAT_DRIVER` to start the torque alarm for any of this three errors.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setAllPWMPositionLimits	(	uint16_t	newOverlaodPWMThreshold,
		int16_t	newMinPosition,
		int16_t	newMaxPosition
	)

inline

Set PWM and position limits for all.

Modify the PWM and position limits of the servo both EEP and RAM. Over these defined limits, the servo is switching to error mode.

Parameters

[out]	newOverlaodPWMThreshold	: The overload PWM threshold is the limits off PWM load from which the servo switches to error mode. Its value is given in PWM within the range [0 ; 1023 PWM]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	newMinPosition	: The min position is the lower limit position (given compare to the neutral position = 512 raw) the servo is allowed to move before switching to error mode. It can be used to avoid collisions for instance. Its value is given in 10^-1 degrees within the range [-166.7° ; 166.7°]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	newMaxPosition	: The max position is the upper limit position (given compare to the neutral position = 512 raw) the servo is allowed to move before switching to error mode. It can be used to avoid collisions for instance. Its value is given in 10^-1 degrees within the range [-166.7° ; 166.7°]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setAllTemperatureVoltage	(	int16_t	newMaxTemp,
		int16_t	newMinVoltage,
		int16_t	newMaxVoltage
	)

inline

Set temperature and voltage for all.

Modify the max temperature, and min and max voltages of all servos in both EEP and RAM.

Parameters

[in]	newMaxTemp	: Maximum allowed temperature. Exceeding this temperature switch the servo to error.
[in]	newMinVoltage	: Minimum allowed voltage value. Under this input voltage, the servo switches to error.
[in]	newMaxVoltage	: Maximum allowed voltage value. Over this input voltage, the servo switches to error.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setAllTorqueLEDControl	(	hkxTorqueControl	newTorqueControl,
		hkxLEDControl	newLEDControl
	)

inline

Set torque actuation and LED colour for all.

Modify the torque actuation and LED colour of the servo in both EEP and RAM.

Parameters

[in]	newTorqueControl	: Torque actuator to apply. Possible values are: `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)
[in]	newLEDControl	: LED colour to set. Possible values are: `HKX_LED_OFF`, `HKX_LED_GREEN`, `HKX_LED_BLUE`, `HKX_LED_RED`, `HKX_LED_CYAN`, `HKX_LED_YELLOW`, `HKX_LED_PINK`, `HKX_LED_WHITE`,

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setID	(	uint8_t	ID,
		uint8_t	newID
	)

Set ID.

Modify the ID of the servo in both EEP and RAM. A check that no other servo already has the newID is performed before applying the modification.

Parameters

[in]	ID	: current id of the servo to address the request. The value shall be [0 ; 253].
[in]	newID	: new id of the servo. The value shall be [0 ; 253].

Returns: 0 = OK
1 = Input not correct
4 = newID already used

uint8_t HkxSetup::setOneAcceleration	(	uint8_t	ID,
		uint8_t	newAccelerationRatio,
		uint16_t	newMaxAccelerationTime
	)

inline

Set Acceleration.

Modify the acceleration parameters of the servo in both EEP and RAM. The servo generates a trapezoidal velocity trajectory profile (see figure below) according to play time given by the user (see for instance HkxPosControl.movePosition()) where: acceleration time = deceleration time = min (playtime x accelerationRatio / 100, maxAccelerationTime).

if (playtime x accelerationRatio / 100) < maxAccelerationTime   if (playtime x accelerationRatio / 100) > maxAccelerationTime
            V |                                                        V |          ______________                   
            e |         /*\                                            e |         /*            *\                      
            l |        / * \                                           l |        / *            * \                 
            o |       /  *  \                                          o |       /  *            *  \                
            c |      /   *   \                                         c |      /   *            *   \                   
            i |     /    *    \                                        i |     /    *            *    \                  
            t |    /     *     \                                       t |    /     *            *     \                 
            y |   /      *      \                                      y |   /      *            *      \                
              |  /       *       \                                       |  /       *            *       \               
              | /        *        \                                      | /        *            *        \              
              |/_________*_________\________ Time                        |/_________*____________*_________\________ Time
              < Acc time> <Dec time >                                    < Acc time >            < Dec time >            
              <----- Play time ----->                                    <----------- Play time ------------>

Parameters

[in]	ID	: id of the servo to address the request. The value shall be [0 ; 253].
[in]	newAccelerationRatio	: Acceleration ratio considered to generate velocity trajectory. Its value shall be set in percent (%) within the range [0 ; 50%].
[in]	newMaxAccelerationTime	: Maximum acceleration time to generate velocity trajectory. Its value shall be set in milliseconds within the range [0 ; 2845ms].

Returns: 0 = OK
1 = Input not correct
2 = Servo not connected
3 = Data not consistent

uint8_t HkxSetup::setOneControlSystem	(	uint8_t	ID,
		uint16_t	kProportionnal,
		uint16_t	kDerivative,
		uint16_t	kInteger,
		uint16_t	feedforwardGain1,
		uint16_t	feedforwardGain2
	)

inline

Set Control System.

Modify the control system of the servo in both EEP and RAM.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[in]	kProportionnal	: Proportional gain, when its value increase, the response time decreases but may lead to over response (vibration, overshoot). Its value shall be set with no unit within the range [0 ; 32767]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[in]	kDerivative	: Derivative gain, when its value increase, the over response is attenuated but may lead to instability. Its value shall be set with no unit within the range [0 ; 32767]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[in]	kInteger	: Integral gain, when its value increase, reduce the position offset error in steady state but may lead response lag. Its value shall be set with no unit within the range [0 ; 32767]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[in]	feedforwardGain1	: Position feed forward 1st gain, when its value increase, the response time decreases. Its value shall be set with no unit within the range [0 ; 32767]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[in]	feedforwardGain2	: Position feed forward 2nd gain, when its value increase, the response time decreases. Its value shall be set with no unit within the range [0 ; 32767]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setOneErrorsCheckPeriod	(	uint8_t	ID,
		uint16_t	LEDBlink,
		uint16_t	ADCFault,
		uint16_t	packetGarbage,
		uint16_t	stopDetection,
		uint16_t	overloadDetection
	)

inline

Set check periods.

Modify the check periods for de different errors of the servo in both EEP and RAM.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[in]	LEDBlink	: Check period for the alarm LED policy to activate LED blinking. Its value shall be set in milliseconds within the range [0 ; 2845ms].
[in]	ADCFault	: Check period for temperature and input voltage error (when temperature > max temperature or voltage < min voltage or voltage > max voltage). Its value shall be set in milliseconds within the range [0 ; 2845ms].
[in]	packetGarbage	: Check period for incomplete packet error. Its value shall be set in milliseconds within the range [0 ; 2845ms].
[out]	stopDetection	: Check period for the servo stoppage. Its value shall be set in milliseconds within the range [0 ; 2845ms].
[in]	overloadDetection	: Check period for the overload PWM threshold. Its value shall be set in milliseconds within the range [0 ; 2845ms].

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setOneInPositionCriteria	(	uint8_t	ID,
		uint16_t	stopThreshold,
		uint16_t	inPositionMargin
	)

inline

Set in position criteria.

Modify the in position criteria of the servo in both EEP and RAM.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[out]	stopThreshold	: Under this angle displacement, the servo is seen as not moving. Its value shall be set in 10^-1 degrees within the range [0 ; 82.8°]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	inPositionMargin	: Minimum angle distance to determine the goal position reached. Its value shall be set in 10^-1 degrees within the range [0 ; 82.8°]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setOneLoadControl	(	uint8_t	ID,
		uint16_t	newDeadZone,
		uint8_t	newSaturatorOffset,
		const uint32_t &	newSaturatorSlope,
		int8_t	newPWMOffset,
		uint8_t	newMinPWM,
		uint16_t	newMaxPWM
	)

inline

Set load control parameters.

Modify the load control parameters of the servo in both EEP and RAM. The load control parameters define the saturation curve according to the figure below.

         PWM+
          |  ___________........................................ PWM max
          |             \
          |              \ Saturator slope
          |               \..................................... Saturator offset
          |                |<dead zone> <dead zone>
          |                |___________ ........................ PWM min
          |                            |
          |  --------------------------|------------------------ PWM offset
          |                            |__________
Position- |____________________________*__________|_____________ Position+
          |                          goal         |
          |                        position        \
          |                                         \__________
          |
         PWM-

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[in]	newDeadZone	: The dead zone is the angle error before the servo applies a load compensation to maintain its position (see the above figure). Its value shall be set in 10^-1 degrees within the range [0 ; 82.8°].
[in]	newSaturatorOffset	: The saturator offset is the step PWM value of the saturator once deadzone the position goes out of the dead zone (see the above figure). Its value shall be set in PWM within the range [0 ; 254].
[in]	newSaturatorSlope	: The saturator slop is a gradient of the saturator, going from the saturator offset and increasing gradually the PWM with the error position to the goal (see the above figure). It provides a flexible and elastic response of the servo to external forces. Its value shall be set in 10^-2 PWM / degree within the range [0 ; 393 PWM/degree].
[in]	newPWMOffset	: The PWM offset allows compensating permanent load (e.g. gravity) by shifting the saturator by the same value (see the above figure). Its value shall be set in PWM within the range [-128 ; 127].
[in]	newMinPWM	: The min PWM is the minimum PWM that is applied by the servo (see the above figure). As specified in the user manual p.37, this may lead to unstable system. Use 0 as default value. The value shall be set in PWM within the range [0 ; 254].
[in]	newMaxPWM	: The max PWM is the maximum PWM that is applied by the servo (see the above figure). It could be used to limit the load of the servo, to avoid damages or injuries or instance. The value shall be set in PWM within the range [0 ; 1023].

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setOnePolicies	(	uint8_t	ID,
		uint8_t	newAlarmLEDPolicy,
		uint8_t	newTorquePolicy
	)

inline

Set policies.

Modify the current Alarm LED policy and Torque policy of the servo in both EEP and RAM. For easier definition the following constants can be used.

HKX_STAT_VOLTAGE : Exceed Input Voltage limit
HKX_STAT_POSITION : Exceed allowed POT limit
HKX_STAT_TEMPERATURE : Exceed Temperature limit
HKX_STAT_PACKET : Invalid Packet
HKX_STAT_OVERLOAD : Overload detected
HKX_STAT_DRIVER : Driver fault detected
HKX_STAT_ROM_DISTORTED : EEP REG distorted

HKX_STAT_ALL : all the list

Parameters

[in]	ID	: current id of the servo to address the request. The value shall be [0 ; 253].
[in]	newAlarmLEDPolicy	: Alarm LED policy. See the user manual p.33 for more details. It can be easily setup thanks the below constants. For instance, the setting `HKX_STAT_VOLTAGE` & `HKX_STAT_POSITION` to start the LED alarm for any of this two errors.
[in]	newTorquePolicy	: Torque policy. See the user manual p.33 for more details. It can be easily setup thanks the below constants. For instance, the setting `HKX_STAT_TEMPERATURE` & `HKX_STAT_OVERLOAD` & `HKX_STAT_DRIVER` to start the torque alarm for any of this three errors.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setOnePWMPositionLimits	(	uint8_t	ID,
		uint16_t	newOverlaodPWMThreshold,
		int16_t	newMinPosition,
		int16_t	newMaxPosition
	)

inline

Set PWM and position limits.

Modify the PWM and position limits of the servo both EEP and RAM. Over these defined limits, the servo is switching to error mode.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[out]	newOverlaodPWMThreshold	: The overload PWM threshold is the limits off PWM load from which the servo switches to error mode. Its value is given in PWM within the range [0 ; 1023 PWM]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	newMinPosition	: The min position is the lower limit position (given compare to the neutral position = 512 raw) the servo is allowed to move before switching to error mode. It can be used to avoid collisions for instance. Its value is given set in 10^-1 degrees within the range [-166.7° ; 166.7°]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.
[out]	newMaxPosition	: The max position is the upper limit position (given compare to the neutral position = 512 raw) the servo is allowed to move before switching to error mode. It can be used to avoid collisions for instance. Its value is given set in 10^-1 degrees within the range [-166.7° ; 166.7°]. This parameter is optional, either set the address of uint16_t (or `unsigned` `int`) variable, or set `HKX_NO_VALUE` to ignore it.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setOneTemperatureVoltage	(	uint8_t	ID,
		int16_t	newMaxTemp,
		uint16_t	newMinVoltage,
		uint16_t	newMaxVoltage
	)

inline

Set temperature and voltage.

Modify the max temperature, and min and max voltages of the servo in both EEP and RAM.

Parameters

[in]	ID	: current id of the servo to address the request. The value shall be [0 ; 253].
[in]	newMaxTemp	: Maximum allowed temperature. Exceeding this temperature switch the servo to error.
[in]	newMinVoltage	: Minimum allowed voltage value. Under this input voltage, the servo switches to error.
[in]	newMaxVoltage	: Maximum allowed voltage value. Over this input voltage, the servo switches to error.

Returns: 0 = OK
1 = Input not correct

uint8_t HkxSetup::setOneTorqueLEDControl	(	uint8_t	ID,
		hkxTorqueControl	newTorqueControl,
		hkxLEDControl	newLEDControl
	)

inline

Set torque actuation and LED colour.

Modify the torque actuation and LED colour of the servo in both EEP and RAM.

Parameters

[in]	ID	: ID of the servo to address the request. The value shall be [0 ; 253].
[in]	newTorqueControl	: Torque actuator to apply. Possible values are: `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)
[in]	newLEDControl	: LED colour to set. Possible values are: `HKX_LED_OFF`, `HKX_LED_GREEN`, `HKX_LED_BLUE`, `HKX_LED_RED`, `HKX_LED_CYAN`, `HKX_LED_YELLOW`, `HKX_LED_PINK`, `HKX_LED_WHITE`,

Returns: 0 = OK
1 = Input not correct

Member Data Documentation

HkxCommunication& HkxSetup::_herkXCom

private

Communication with servos

HkxPrint& HkxSetup::_print

private

Communication to print messages

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

/home/benoit/sketchbook/libraries/HerkuleXLib/HkxSetup.h
/home/benoit/sketchbook/libraries/HerkuleXLib/HkxSetup.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation