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Provide API to limit the maximum torque of each servo. #84

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Merged
merged 4 commits into from
Aug 22, 2022
Merged

Provide API to limit the maximum torque of each servo. #84

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f109c2f
Bugfix: No need to increment the ID when setting the max torque, this…
aentinger Aug 22, 2022
f9969af
Provide API to set the max allowed torque on a per-servo basis.
aentinger Aug 22, 2022
6188939
Also make the setMaxTorque API available from the Servo abstraction.
aentinger Aug 22, 2022
135893f
Move check of torque limits inside of SmartServoClass.
aentinger Aug 22, 2022
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4 changes: 4 additions & 0 deletions src/Braccio++.h
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,9 @@ class BraccioClass
void positions(float * buffer);
void positions(float & a1, float & a2, float & a3, float & a4, float & a5, float & a6);

inline void setMaxTorque(uint16_t const max_torque) { _servos.setMaxTorque(max_torque); }
inline void setMaxTorque(int const id, uint16_t const max_torque) { _servos.setMaxTorque(id, max_torque); }

inline void speed(speed_grade_t const speed_grade) { _servos.setTime(speed_grade); }
inline void speed(int const id, speed_grade_t const speed_grade) { _servos.setTime(id, speed_grade); }

Expand Down Expand Up @@ -184,6 +187,7 @@ class Servo
inline void disengage() { _servos.disengage(_id); }
inline void engage() { _servos.engage(_id); }
inline bool engaged() { return _servos.isEngaged(_id); }
inline void setMaxTorque(uint16_t const max_torque) { _servos.setMaxTorque(_id, max_torque); }

inline Servo & move() { return *this; }
inline Servo & to (float const angle) { _servos.setPosition(_id, angle); return *this; }
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12 changes: 5 additions & 7 deletions src/lib/motors/SmartServo.cpp
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Expand Up @@ -274,16 +274,14 @@ void SmartServoClass::setTime(uint8_t const id, uint16_t const time)
writeWordCmd(id, REG(SmartServoRegister::RUN_TIME_H), time);
}

void SmartServoClass::setMaxTorque(uint16_t const torque)
void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const max_torque)
{
mbed::ScopedLock<rtos::Mutex> lock(_mtx);
writeWordCmd(BROADCAST, REG(SmartServoRegister::MAX_TORQUE_H), torque);
}

void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const torque)
{
mbed::ScopedLock<rtos::Mutex> lock(_mtx);
writeWordCmd(id+1, REG(SmartServoRegister::MAX_TORQUE_H), torque);
if (max_torque > TORQUE_MAX)
writeWordCmd(id, REG(SmartServoRegister::MAX_TORQUE_H), TORQUE_MAX);
else
writeWordCmd(id, REG(SmartServoRegister::MAX_TORQUE_H), max_torque);
}

void SmartServoClass::setID(uint8_t const id)
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8 changes: 5 additions & 3 deletions src/lib/motors/SmartServo.h
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Expand Up @@ -56,9 +56,8 @@ class SmartServoClass

void setTorque(uint8_t const id, bool const torque);

void setMaxTorque(uint16_t const torque);

void setMaxTorque(uint8_t const id, uint16_t const torque);
void setMaxTorque(uint8_t const id, uint16_t const max_torque);
inline void setMaxTorque(uint16_t const max_torque) { setMaxTorque(BROADCAST, max_torque); }

void setID(uint8_t const id);

Expand Down Expand Up @@ -98,6 +97,9 @@ class SmartServoClass
static int constexpr NUM_MOTORS = 6;
static float constexpr MAX_ANGLE = 315.0f;

static uint16_t constexpr TORQUE_MIN = 0;
static uint16_t constexpr TORQUE_MAX = 1000;

static size_t idToArrayIndex(size_t const id) { return (id - 1); }

private:
Expand Down