Add additional API updates to mainline

README.md

@@ -1,58 +1,81 @@
-# LX-16A Servo Library
+# LX-16A, LX-224 and LX-15D Servo Library
 
-Simple ESP32-Arduino library to operate LX-16A serial servos.
+Simple Arduino library to operate LX-16A, LX-224 and LX-15D serial servos.
 
-This library sends simple commands to LewanSoul LX-16A serial bus servos.
-It is designed for the ESP32 Arduino framework and uses a single pin to interface to the servos
+This library sends simple commands to LewanSoul LX-16A, LX-224  and Hiwonder LX-15D serial bus servos.
+It is designed for the Arduino framework and uses a single pin to interface to the servos
 as opposed to the more common 3-pin configuration (TX, RX, direction).
 
 The library's LX16AServo class provides two main methods to write a command and to read settings.
 It's very simple!
 
+# Electrical
+
+The LX-* servos all use a 3.3v driven bi directional asynchronus serial. It is similar to UART, but uses both signals on one pin. Because of this, the Master TX line has to be connected only while transmitting. The correct way to do this is a buffer chip 74HC126. 
+
+https://www.digikey.com/product-detail/en/texas-instruments/SN74HC126N/296-8221-5-ND
+
+This library uses an IO pin passed to the begin() method to flag when the master is transmitting on the bus. When the flag is de-asserted, then the bus is freed for a motor to transmit, with the Masters UART TX line held in high-impedance.
+
+```
+MCU RX -> Direct Connection -> LX-* Serial Pin
+MCU TX -> 74HC126 A   
+MCU Flag GPIO -> 74HC126 OE
+74HC126 Y -> LX-* Serial Pin
+6v-7.5v ->  LX-* Power (center) pin
+GND     ->  LX-* GND Pin
+```
+
+The MCU Rx pin always listens,a nd hears its own bytes comming in. This library clears out the incomming bytes and will hang if it could not hear itself talking. 
+
+
+### Quick and dirty/ Hacky one motor setup
+This wireing configuration will get you up and running fast. You will get a few failed commands and errored bytes using this method. It is usefull to quickly test a servo on a new system.  
+
+```
+MCU RX -> Direct Connection -> LX-16a Serial Pin
+MCU TX -> 1K Ohm resistor   -> LX-16a Serial Pin
+6v-7.5v ->  LX-16a Power (center) pin
+GND     ->  LX-16a GND Pin
+```
+
 ## Quick start
 
 Allocate a bus object to represent the serial line, and a servo object for the first servo:
 ```
 LX16ABus servoBus;
-LX16AServo servo(servoBus, 1);
+LX16AServo servo(servoBus, 1);// Motor ID 1
 ```
 
-Initialize the bus to use Serial1 on pin 33:
+Initialize the bus to use Serial1:
 ```
-servoBus.begin(Serial1, 33);
+servoBus.begin(Serial1,2);// use pin 2 as the TX flag for buffer
 ```
 
 Step servo through its 240 degrees range, 10% at a time:
 ```
-int n = 0;
-loop() {
-    uint16_t angle = (n%11) * 100;
+	for (int i = 0; i < 10; i++) {
+		int16_t pos = 0;
+		pos = servo.pos_read();
+		Serial.printf("\n\nPosition at %d -> %s\n", pos,
+				servo.isCommandOk() ? "OK" : "\n\nERR!!\n\n");
 
-    uint8_t params[] = { (uint8_t)angle, (uint8_t)(angle>>8), 500&0xff, 500>>8 };
-    bool ok = servo.write(1, params, sizeof(params));
-    printf("Move to %d -> %s\n", angle, ok?"OK":"ERR");
+		uint16_t angle = i * 2400;
 
-    delay(10);
+		do {
+			servo.move_time(angle, 500);
+		} while (!servo.isCommandOk());
+		Serial.printf("Move to %d -> %s\n", angle,
+				servo.isCommandOk() ? "OK" : "\n\nERR!!\n\n");
+		Serial.println("Voltage = " + String(servo.vin()));
+		Serial.println("Temp = " + String(servo.temp()));
+		Serial.println("ID  = " + String(servo.id_read()));
+		Serial.println("Motor Mode  = " + String(servo.readIsMotorMode()));
 
-    ok = servo.read(2, params, 4);
-    printf("Position at %d -> %s\n", params[0]|(params[1]<<8), ok?"OK":"ERR");
+		delay(200);
 
-    n++;
-    delay(2000);
-}
-```
-
-## High-level methods
-
-The library implements a number of high-level functions which correspond to the lx16-a commands. For
-example:
-
-```
-// angle_adjust sets the position angle offset in centi-degrees (-3000..3000)
-bool angle_adjust(int16_t angle);
+		//servo.stopAll();
+		delay(1800);
 
-// temp_read returns the servo temperature in centigrade
-bool temp(uint8_t &temp);
+	}
 ```
-Not all commands have been implemented, but it's easy to add any that are needed and missing.
-See `src/LC16AServo.h`.

examples/lx16aServoExample/lx16aServoExample.ino

@@ -1,24 +1,36 @@
 #include <Arduino.h>
 #include <lx16a-servo.h>
 LX16ABus servoBus;
-LX16AServo servo(servoBus, 1);
-int n = 0;
-void setup(){
-	servoBus.begin(Serial1, 33);
+LX16AServo servo(&servoBus, 1);
+void setup() {
+	servoBus.begin(&Serial1,2);// use pin 2 as the TX flag for buffer
+	Serial.begin(115200);
+	servoBus.debug(true);
+	Serial.println("Beginning Servo Example");
 }
 
-void loop(){
-    uint16_t angle = (n%11) * 100;
+void loop() {
+	int divisor =4;
+	for (int i = 0; i < 1000/divisor; i++) {
+		uint16_t angle = i * 24*divisor;
+		int16_t pos = 0;
+		pos = servo.pos_read();
+		Serial.printf("\n\nPosition at %d -> %s\n", pos,
+				servo.isCommandOk() ? "OK" : "\n\nERR!!\n\n");
 
-    uint8_t params[] = { (uint8_t)angle, (uint8_t)(angle>>8), 500&0xff, 500>>8 };
-    bool ok = servo.write(1, params, sizeof(params));
-    printf("Move to %d -> %s\n", angle, ok?"OK":"ERR");
+		do {
+			servo.move_time(angle, 10*divisor);
+		} while (!servo.isCommandOk());
+		Serial.printf("Move to %d -> %s\n", angle,
+				servo.isCommandOk() ? "OK" : "\n\nERR!!\n\n");
+//		Serial.println("Voltage = " + String(servo.vin()));
+//		Serial.println("Temp = " + String(servo.temp()));
+//		Serial.println("ID  = " + String(servo.id_read()));
+//		Serial.println("Motor Mode  = " + String(servo.readIsMotorMode()));
 
-    delay(10);
+		delay(10*divisor);
+	}
 
-    ok = servo.read(2, params, 4);
-    printf("Position at %d -> %s\n", params[0]|(params[1]<<8), ok?"OK":"ERR");
-
-    n++;
-    delay(2000);
+	servo.move_time(0, 3000);
+	delay(3000);
 }

examples/lx16aServo_Motor_Mode/lx16aServo_Motor_Mode.ino

@@ -0,0 +1,31 @@
+#include <Arduino.h>
+#include <lx16a-servo.h>
+LX16ABus servoBus;
+LX16AServo servo(&servoBus, 1);
+void setup() {
+	servoBus.begin(&Serial1,2);// use pin 2 as the TX flag for buffer
+	Serial.begin(115200);
+}
+
+void loop() {
+	for (int i = -10; i < 10; i++) {
+		int16_t pos = 0;
+		pos = servo.pos_read();
+		Serial.printf("\n\nPosition at %d -> %s\n", pos,
+				servo.isCommandOk() ? "OK" : "\n\nERR!!\n\n");
+
+		int16_t angle = i * 100;
+
+
+		servo.motor_mode(angle);
+
+		Serial.printf("Move to %d -> %s\n", angle,
+				servo.isCommandOk() ? "OK" : "\n\nERR!!\n\n");
+		Serial.println("Voltage = " + String(servo.vin()));
+		Serial.println("Temp = " + String(servo.temp()));
+		Serial.println("ID  = " + String(servo.id_read()));
+		delay(500);
+	}
+	servo.move_time(0, 500);
+	delay(5000);
+}

examples/lx16aServo_Multiple_Servos/lx16aServo_Multiple_Servos.ino

@@ -0,0 +1,72 @@
+#include <Arduino.h>
+#include <lx16a-servo.h>
+LX16ABus servoBus;
+LX16AServo servo(&servoBus, 1);
+LX16AServo servo2(&servoBus, 2);
+LX16AServo servo3(&servoBus, 3);
+void setup() {
+	servoBus.begin(&Serial1,2);// use pin 2 as the TX flag for buffer
+	Serial.begin(115200);
+	servoBus.retry=1;// enforce synchronous real time
+	servoBus.debug(true);
+	Serial.println("Beginning Coordinated Servo Example");
+
+}
+// 40ms trajectory planning loop seems the most stable
+
+void loop() {
+	int divisor =4;
+	for (int i = 0; i < 1000/divisor; i++) {
+		long start = millis();
+		int16_t pos = 0;
+		pos = servo.pos_read();
+		int16_t pos2 = servo2.pos_read();
+		int16_t pos3 = servo3.pos_read();
+
+
+		uint16_t angle = i * 24*divisor;
+
+
+		servo2.move_time_and_wait_for_sync(angle, 10*divisor);
+		servo3.move_time_and_wait_for_sync(angle, 10*divisor);
+		servo.move_time_and_wait_for_sync(angle, 10*divisor);
+
+		servoBus.move_sync_start();
+		long took = millis()-start;
+
+		//if(abs(pos2-pos)>100){
+		Serial.printf("\n\nPosition at %d, %d and %d-> %s\n", pos,pos2,pos3,
+						servo.isCommandOk() ? "OK" : "\n\nERR!!\n\n");
+		Serial.printf("Move to %d -> %s\n", angle,
+				servo.isCommandOk() ? "OK" : "\n\nERR!!\n\n");
+		//}
+		long time = (10*divisor)-took;
+		if(time>0)
+			delay(time);
+		else{
+			Serial.println("Real Time broken, took: "+String(took));
+		}
+	}
+	Serial.println("Interpolated Set pos done, not long set");
+
+	servoBus.retry=5;// These commands must arrive
+	servo.move_time(0, 10000);
+	servo2.move_time(0, 10000);
+	servo3.move_time(0, 10000);
+	servoBus.retry=0;// Back to low latency mode
+	for (int i = 0; i < 1000/divisor; i++) {
+		int16_t pos = 0;
+		pos = servo.pos_read();
+		int16_t pos2 = servo2.pos_read();
+		int16_t pos3 = servo3.pos_read();
+
+		Serial.printf("\n\nPosition at %d, %d and %d\n", pos,pos2,pos3);
+
+		Serial.println("Voltage = " + String(servo.vin()));
+		Serial.println("Temp = " + String(servo.temp()));
+		Serial.println("ID  = " + String(servo.id_read()));
+
+		delay(10*divisor);
+	}
+	Serial.println("Loop resetting");
+}

examples/lx16aSetServoID/lx16aSetServoID.ino

@@ -0,0 +1,15 @@
+#include <Arduino.h>
+#include <lx16a-servo.h>
+LX16ABus servoBus;
+LX16AServo servo(&servoBus, LX16A_BROADCAST_ID);// send these commands to any motor on the bus
+void setup() {
+	servoBus.begin(&Serial1,2);// use pin 2 as the TX flag for buffer
+	Serial.begin(115200);
+}
+
+void loop() {
+	// Set any motor plugged in to ID 3
+	// this INO acts as an auto-provisioner for any motor plugged in
+	servo.id_write(1);
+}
+

library.properties

@@ -1,11 +1,11 @@
 name=lx16a-servo
-version=0.0.1
-author=Thorsten von Eicken
+version=0.0.6
+author=Thorsten von Eicken,Kevin Harrington
 maintainer=Thorsten von Eicken,Kevin Harrington <mad.hephaestus@gmail.com>
 sentence=Simple Arduino library to operate LX-16A serial servos. 
 paragraph=This library sends simple commands to LewanSoul LX-16A serial bus servos. It is designed for the ESP32 Arduino framework and uses a single pin to interface to the servos as opposed to the more common 3-pin configuration (TX, RX, direction).
 category=Device Control
-url=https://github.com/tve/lx16a-servo
+url=https://github.com/madhephaestus/lx16a-servo
 architectures=*
-includes=LX16AServo.h
+includes=lx16a-servo.h