lx16a.hpp

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// MIT License
 
// Copyright (c) 2023 Miguel Ángel González Santamarta
 
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
 
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
 
#ifndef LX16A_HPP
#define LX16A_HPP
 
#include <cstdint>
#include <memory>
#include <mutex>
#include <string>
#include <vector>
 
#include "lx16a/lx16a_consts.hpp"
#include "lx16a/serial.hpp"
 
namespace lx16a {
 
class LX16A {
private:
  std::unique_ptr<Serial> serial;
  std::unique_ptr<std::mutex> mtx;
 
  void send_command(uint8_t servo_id, uint8_t command,
                    std::vector<uint8_t> params);
  std::vector<uint8_t> wait_for_response(uint8_t servo_id, uint8_t command);
  std::vector<uint8_t> query(uint8_t servo_id, uint8_t command);
 
public:
  LX16A(std::string serial_port, unsigned int baud_rate);
 
  uint8_t lower_byte(int value);
  uint8_t higher_byte(int value);
  uint8_t word(int low, int high);
  int clamp(int range_min, int range_max, int value);
 
  uint8_t get_servo_id(uint8_t servo_id);
  void set_servo_id(uint8_t servo_id, uint8_t new_servo_id);
 
  void move(uint8_t servo_id, int position, int time = 0);
  void move_prepare(uint8_t servo_id, int position, int time = 0);
  void move_start(uint8_t servo_id = SERVO_ID_ALL);
  void move_stop(uint8_t servo_id = SERVO_ID_ALL);
 
  std::vector<uint8_t> get_prepared_move(uint8_t servo_id);
  int get_position_offset(uint8_t servo_id);
  std::vector<uint8_t> get_position_limits(int8_t servo_id);
  int get_position(uint8_t servo_id);
 
  void set_position_offset(uint8_t servo_id, int deviation);
  void save_position_offset(uint8_t servo_id);
  void set_position_limits(uint8_t servo_id, int min_position,
                           int max_position);
 
  std::vector<uint8_t> get_voltage_limits(uint8_t servo_id);
  uint8_t get_voltage(uint8_t servo_id);
  void set_voltage_limits(uint8_t servo_id, int min_voltage, int max_voltage);
 
  uint8_t get_max_temperature_limit(uint8_t servo_id);
  uint8_t get_temperature(uint8_t servo_id);
  void set_max_temperature_limit(uint8_t servo_id, int max_temperature);
 
  uint8_t get_mode(uint8_t servo_id);
  int get_motor_speed(uint8_t servo_id);
  void set_servo_mode(uint8_t servo_id);
  void set_motor_mode(uint8_t servo_id, int speed = 0);
  bool is_motor_on(uint8_t servo_id);
  void motor_on(uint8_t servo_id);
  void motor_off(uint8_t servo_id);
 
  bool is_led_on(uint8_t servo_id);
  void led_on(uint8_t servo_id);
  void led_off(uint8_t servo_id);
  uint8_t get_led_errors(uint8_t servo_id);
  void set_led_errors(uint8_t servo_id, uint8_t error);
};
 
} // namespace lx16a
#endif