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Code Issues Releases Wiki Activity

Fixup new file Dynamixel2.cpp

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This commit is contained in:
Mitch Bradley
2020-09-09 09:09:12 -10:00
parent c9d8a9b2e5
commit 05e3e4028a
1 changed files with 17 additions and 17 deletions
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34
Grbl_Esp32/src/Motors/Dynamixel2.cpp
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@@ -40,7 +40,7 @@ namespace Motors {
_rts_pin = rts_pin;
if (_tx_pin == UNDEFINED_PIN || _rx_pin == UNDEFINED_PIN || _rts_pin == UNDEFINED_PIN) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Dymanixel Error. Missing pin definitions");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Dymanixel Error. Missing pin definitions");
return;
}
@@ -71,7 +71,7 @@ namespace Motors {
void Dynamixel2::config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
MsgLevel::Info,
"%s Axis Dynamixel Servo ID:%d Count(%5.0f,%5.0f) Limits(%0.3fmm,%5.3f)",
_axis_name,
_id,
@@ -94,14 +94,14 @@ namespace Motors {
uint16_t model_num = _dxl_rx_message[10] << 8 | _dxl_rx_message[9];
if (model_num == 1060) {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
MsgLevel::Info,
"%s Axis Dynamixel Detected ID %d Model XL430-W250 F/W Rev %x",
_axis_name,
_id,
_dxl_rx_message[11]);
} else {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
MsgLevel::Info,
"%s Axis Dynamixel Detected ID %d M/N %d F/W Rev %x",
_axis_name,
_id,
@@ -110,7 +110,7 @@ namespace Motors {
}
} else {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Axis Dynamixel Servo ID %d Ping failed", _axis_name, _id);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "%s Axis Dynamixel Servo ID %d Ping failed", _axis_name, _id);
}
return true;
@@ -141,7 +141,7 @@ namespace Motors {
_disabled = disable;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Axis %s", _axis_name, disable ? "Disable" : "Enable");
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "%s Axis %s", _axis_name, disable ? "Disable" : "Enable");
if (_disabled)
dxl_write(DXL_ADDR_TORQUE_EN, param_count, 0);
@@ -175,7 +175,7 @@ namespace Motors {
if (uart_ready)
return; // UART already setup
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Dynamixel UART TX:%d RX:%d RTS:%d", DYNAMIXEL_TXD, DYNAMIXEL_RXD, DYNAMIXEL_RTS);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Dynamixel UART TX:%d RX:%d RTS:%d", DYNAMIXEL_TXD, DYNAMIXEL_RXD, DYNAMIXEL_RTS);
uart_driver_delete(UART_NUM_2);
@@ -243,7 +243,7 @@ namespace Motors {
return dxl_position;
} else {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Data len arror: %d", data_len);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Data len arror: %d", data_len);
return 0;
}
}
@@ -301,18 +301,18 @@ namespace Motors {
if (len == 11) {
uint8_t err = _dxl_rx_message[8];
switch (err) {
case 1: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Dynamixel Servo ID %d Write fail error", _id); break;
case 2: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Dynamixel Servo ID %d Write instruction error", _id); break;
case 3: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Dynamixel Servo ID %d Write access error", _id); break;
case 4: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Dynamixel Servo ID %d Write data range error", _id); break;
case 5: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Dynamixel Servo ID %d Write data length error", _id); break;
case 6: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Dynamixel Servo ID %d Write data limit error", _id); break;
case 7: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Dynamixel Servo ID %d Write access error", _id); break;
case 1: grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Dynamixel Servo ID %d Write fail error", _id); break;
case 2: grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Dynamixel Servo ID %d Write instruction error", _id); break;
case 3: grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Dynamixel Servo ID %d Write access error", _id); break;
case 4: grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Dynamixel Servo ID %d Write data range error", _id); break;
case 5: grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Dynamixel Servo ID %d Write data length error", _id); break;
case 6: grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Dynamixel Servo ID %d Write data limit error", _id); break;
case 7: grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Dynamixel Servo ID %d Write access error", _id); break;
default: break;
}
} else {
// timeout
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Dynamixel Servo ID %d Timeout", _id);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Dynamixel Servo ID %d Timeout", _id);
}
}
@@ -367,7 +367,7 @@ namespace Motors {
// map the mm range to the servo range
dxl_position = (uint32_t)mapConstrain(target, position_min, position_max, dxl_count_min, dxl_count_max);
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Range: %5.3f/%5.3f Target:%5.3f Pos %d", position_min, position_max, target, dxl_position);
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Range: %5.3f/%5.3f Target:%5.3f Pos %d", position_min, position_max, target, dxl_position);
tx_message[++msg_index] = current_id; // ID of the servo
tx_message[++msg_index] = dxl_position & 0xFF; // data