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Add RH_P12_RN/RH_P12_RNA #111

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Add RH_P12_RN/RH_P12_RNA #111

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e8b4781
Add RH_P12_RN/RH_P12_RNA
GangYunGit Oct 24, 2022
69548bc
Merge branch 'master' into GangYun
GangYunGit Jun 21, 2023
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17 changes: 16 additions & 1 deletion src/Dynamixel2Arduino.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,9 @@ const uint16_t model_number_table[] PROGMEM = {
PRO_M54P_040_S250_R, PRO_M54P_060_S250_R,
PRO_H42P_020_S300_R,
PRO_H54P_100_S500_R, PRO_H54P_200_S500_R

RH_P12_RN,
RH_P12_RNA
};

const uint8_t model_number_table_count = sizeof(model_number_table)/sizeof(model_number_table[0]);
Expand Down Expand Up @@ -311,6 +314,7 @@ bool Dynamixel2Arduino::setBaudrate(uint8_t id, uint32_t baudrate)
case XC330_T181:
case XL330_M288:
case XL330_M077:
case RH_P12_RN:
switch(baudrate)
{
case 9600:
Expand Down Expand Up @@ -455,6 +459,7 @@ bool Dynamixel2Arduino::setBaudrate(uint8_t id, uint32_t baudrate)
case PRO_M42P_010_S260_R:
case PRO_M54P_040_S250_R:
case PRO_M54P_060_S250_R:
case RH_P12_RNA:
switch(baudrate)
{
case 9600:
Expand Down Expand Up @@ -757,7 +762,17 @@ bool Dynamixel2Arduino::setOperatingMode(uint8_t id, uint8_t mode)
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 16);
}
break;


case RH_P12_RN:
case RH_P12_RNA:
if (mode == OP_CURRENT) {
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 0);
}
else if (mode == OP_CURRENT_BASED_POSITION) {
ret = writeControlTableItem(ControlTableItem::OPERATING_MODE, id, 5);
}
break;

default:
break;
}
Expand Down
62 changes: 60 additions & 2 deletions src/actuator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -349,7 +349,8 @@ const ModelControlTableInfo_t pro_r_control_table[] PROGMEM = {

const ModelControlTableInfo_t pro_ra_pro_plus_control_table[] PROGMEM = {
#if (ENABLE_ACTUATOR_PRO_RA\
|| ENABLE_ACTUATOR_PRO_PLUS)
|| ENABLE_ACTUATOR_PRO_PLUS\
|| ENABLE_ACTUATOR_RH_P12_RNA)
{ControlTableItem::MODEL_NUMBER, 0, 2},
{ControlTableItem::MODEL_INFORMATION, 2, 4},
{ControlTableItem::FIRMWARE_VERSION, 6, 1},
Expand Down Expand Up @@ -416,6 +417,58 @@ const ModelControlTableInfo_t pro_ra_pro_plus_control_table[] PROGMEM = {
{ControlTableItem::LAST_DUMMY_ITEM, 0, 0}
};

const ModelControlTableInfo_t rh_p12_rn_control_table[] PROGMEM = {
#if (ENABLE_ACTUATOR_RH_P12_RN)
{ControlTableItem::MODEL_NUMBER, 0, 2},
{ControlTableItem::MODEL_INFORMATION, 2, 4},
{ControlTableItem::FIRMWARE_VERSION, 6, 1},
{ControlTableItem::ID, 7, 1},
{ControlTableItem::BAUD_RATE, 8, 1},
{ControlTableItem::RETURN_DELAY_TIME, 9, 1},
{ControlTableItem::OPERATING_MODE, 11, 1},
{ControlTableItem::MOVING_THRESHOLD, 17, 4},
{ControlTableItem::TEMPERATURE_LIMIT, 21, 1},
{ControlTableItem::MAX_VOLTAGE_LIMIT, 22, 2},
{ControlTableItem::MIN_VOLTAGE_LIMIT, 24, 2},
{ControlTableItem::ACCELERATION_LIMIT, 26, 4},
{ControlTableItem::CURRENT_LIMIT, 30, 2},
{ControlTableItem::VELOCITY_LIMIT, 32, 4},
{ControlTableItem::MAX_POSITION_LIMIT, 36, 4},
{ControlTableItem::MIN_POSITION_LIMIT, 40, 4},
{ControlTableItem::EXTERNAL_PORT_MODE_1, 44, 1},
{ControlTableItem::EXTERNAL_PORT_MODE_2, 45, 1},
{ControlTableItem::EXTERNAL_PORT_MODE_3, 46, 1},
{ControlTableItem::EXTERNAL_PORT_MODE_4, 47, 1},
{ControlTableItem::SHUTDOWN, 48, 1},

{ControlTableItem::TORQUE_ENABLE, 562, 1},
{ControlTableItem::LED_RED, 563, 1},
{ControlTableItem::LED_GREEN, 564, 1},
{ControlTableItem::LED_BLUE, 565, 1},
{ControlTableItem::POSITION_D_GAIN, 590, 2},
{ControlTableItem::POSITION_I_GAIN, 592, 2},
{ControlTableItem::POSITION_P_GAIN, 594, 2},
{ControlTableItem::GOAL_POSITION, 596, 4},
{ControlTableItem::GOAL_VELOCITY, 600, 4},
{ControlTableItem::GOAL_CURRENT, 604, 2},
{ControlTableItem::GOAL_ACCELERATION, 606, 4},
{ControlTableItem::MOVING, 610, 1},
{ControlTableItem::PRESENT_POSITION, 611, 4},
{ControlTableItem::PRESENT_VELOCITY, 615, 4},
{ControlTableItem::PRESENT_CURRENT, 621, 2},
{ControlTableItem::PRESENT_INPUT_VOLTAGE, 623, 2},
{ControlTableItem::PRESENT_TEMPERATURE, 625, 1},
{ControlTableItem::EXTERNAL_PORT_DATA_1, 600, 2},
{ControlTableItem::EXTERNAL_PORT_DATA_2, 602, 2},
{ControlTableItem::EXTERNAL_PORT_DATA_3, 604, 2},
{ControlTableItem::EXTERNAL_PORT_DATA_4, 606, 2},
{ControlTableItem::STATUS_RETURN_LEVEL, 891, 1},
{ControlTableItem::HARDWARE_ERROR_STATUS, 892, 1},

#endif
{ControlTableItem::LAST_DUMMY_ITEM, 0, 0}
};

ControlTableItemInfo_t DYNAMIXEL::getControlTableItemInfo(uint16_t model_num, uint8_t control_item)
{
uint8_t item_idx, i = 0;
Expand Down Expand Up @@ -547,9 +600,14 @@ ControlTableItemInfo_t DYNAMIXEL::getControlTableItemInfo(uint16_t model_num, ui
case PRO_M42P_010_S260_R:
case PRO_M54P_040_S250_R:
case PRO_M54P_060_S250_R:
case RH_P12_RNA:
p_common_ctable = pro_ra_pro_plus_control_table;
break;


case RH_P12_RN:
p_common_ctable = rh_p12_rn_control_table;
break;

default:
break;
}
Expand Down
8 changes: 8 additions & 0 deletions src/actuator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,14 @@
#ifndef PRO_L42_10_S300_R
#define PRO_L42_10_S300_R (uint16_t)35072
#endif

#ifndef RH_P12_RN
#define RH_P12_RN (uint16_t)35073
#endif
#ifndef RH_P12_RNA
#define RH_P12_RNA (uint16_t)35074
#endif

#ifndef PRO_L54_30_S400_R
#define PRO_L54_30_S400_R (uint16_t)37928
#endif
Expand Down
3 changes: 3 additions & 0 deletions src/utility/config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,9 @@
#define ENABLE_ACTUATOR_PRO_RA 1
#define ENABLE_ACTUATOR_PRO_PLUS 1


#define ENABLE_ACTUATOR_RH_P12_RN 1
#define ENABLE_ACTUATOR_RH_P12_RNA 1
#define DXL_BYTE_STUFF_SAFE_CNT 8


Expand Down