AX12.h

#ifndef __AX12_H
#define __AX12_H
 
#include "Dynamixel.h"  
#include <Arduino.h>
 
#define AX12_BAUDRATE 1000000
 
// mask error bit
#define INSTRUCTION_ERROR_MASK      0x20
#define OVERLOAD_ERROR_MASK         0x10
#define CHECKSUM_ERROR_MASK         0X08
#define RANGE_ERROR_MASK            0x04
#define ANGLE_LIMIT_ERROR_MASK      0x02
#define INPUT_VOLTAGE_ERROR_MASK    0x01
 
// Macros to detect error type
#define INSTRUCTION_ERROR(x)    (x & INSTRUCTION_ERROR_MASK)
#define OVERLOAD_ERROR(x)       (x & OVERLOAD_ERROR_MASK)
#define CHECKSUM_ERROR(x)       (x & CHECKSUM_ERROR_MASK)
#define RANGE_ERROR(x)          (x & RANGE_ERROR_MASK)
#define ANGLE_LIMIT_ERROR(x)    (x & ANGLE_LIMIT_ERROR_MASK)
#define INPUT_VOLTAGE_ERROR(x)  (x & INPUT_VOLTAGE_ERROR_MASK)
 
class AX12 {
 
    private: 
 
        unsigned char m_id;
        bool m_endlessMode;
        bool m_holding;
 
    public:
 
        static void SerialBegin(long baud, unsigned char rtx);
        static void SerialBegin(long baud);
        static void end();
 
        void attach(unsigned char id);
        void detach();
 
        int ping();
        
        int setID(unsigned char newID);
        int setBD(long baud);
 
        int move(float Position, bool waitForFinish=false);
        int moveSpeed(float Position, float Speed, bool waitForFinish=false);
 
        int setEndlessMode(bool Status);
        int turn(int Speed);
        
        int Nextmove(float Position);
        int NextmoveSpeed(float Position, float Speed);
        
        void static action();
 
        int setTempLimit(unsigned char Temperature);
        int setAngleLimit(float CWLimit, float CCWLimit);
        int setVoltageLimit(unsigned char DVoltage, unsigned char UVoltage);
        int setMaxTorque(int MaxTorque);
        int setMaxTorqueRAM(int MaxTorque);
        int setSRL(unsigned char SRL);
        int setRDT(unsigned char RDT);
        int setLEDAlarm(unsigned char LEDAlarm);
        int setShutdownAlarm(unsigned char SALARM);
        int setCMargin(unsigned char CWCMargin, unsigned char CCWCMargin);
        int setCSlope( unsigned char CWCSlope, unsigned char CCWCSlope);
        int setPunch(int Punch);
 
        int moving();
        int lockRegister();
        int savedMove();
        
        int readTemperature();
        float readVoltage();
        float readPosition();
        float readSpeed();
        int readTorque();
 
        bool isHolding();
        
        int hold(bool Status);
        int led(bool Status);
    
};
#endif /* __AX12_H */