servo_accessors.go

package servo

import (
	reg "go.viam.com/dynamixel/registers"
	"go.viam.com/dynamixel/utils"
)

// These methods are getters for the various registers in the control table.
//
// TODO: Each of the following registers should have a corresponding reader, and
//       the R/W registers (marked with an asterisk) should have a writer. They
//       should all receive and return ints or bools, rather than bytes.
//
// TODO: These methods should probably be generated from the list of registers,
//       especially if/when we support multiple models with different sets.
//
// modelNumber
// firmwareVersion
// servoID*
// baudRate*
// returnDelayTime*
// cwAngleLimit*
// ccwAngleLimit*
// highestLimitTemperature*
// lowestLimitVoltage*
// highestLimitVoltage*
// maxTorque*
// statusReturnLevel*
// alarmLed*
// alarmShutdown*
// torqueEnable*
// led*
// cwComplianceMargin*
// ccwComplianceMargin*
// cwComplianceSlope*
// ccwComplianceSlope*
// goalPosition*
// movingSpeed*
// torqueLimit*
// presentPosition
// presentSpeed
// presentLoad
// presentVoltage
// presentTemperature
// registeredInstruction (a.k.a. registered)
// moving
// lock*
// punch*
//

func (s *Servo) ModelNumber() (int, error) {
	return s.getRegister(reg.ModelNumber)
}

func (s *Servo) FirmwareVersion() (int, error) {
	return s.getRegister(reg.FirmwareVersion)
}

func (s *Servo) ServoID() (int, error) {
	return s.getRegister(reg.ServoID)
}

// SetServoID changes the identity of the servo.
// This is stored in EEPROM, so will persist between reboots.
func (s *Servo) SetServoID(ident int) error {
	return s.setRegister(reg.ServoID, ident)
}

func (s *Servo) DriveMode() (int, error) {
	return s.getRegister(reg.DriveMode)
}

func (s *Servo) SetDriveMode(v int) error {
	return s.setRegister(reg.DriveMode, v)
}

func (s *Servo) BaudRate() (int, error) {
	return s.getRegister(reg.BaudRate)
}

func (s *Servo) SetBaudRate(v int) error {
	return s.setRegister(reg.BaudRate, v)
}

func (s *Servo) SetOperatingMode(v int) error {
	return s.setRegister(reg.OperatingMode, v)
}

func (s *Servo) ReturnDelayTime() (int, error) {
	return s.getRegister(reg.ReturnDelayTime)
}

func (s *Servo) SetReturnDelayTime(v int) error {
	return s.setRegister(reg.ReturnDelayTime, v)
}

func (s *Servo) CWAngleLimit() (int, error) {
	return s.getRegister(reg.CwAngleLimit)
}

func (s *Servo) SetCWAngleLimit(v int) error {
	return s.setRegister(reg.CwAngleLimit, v)
}

func (s *Servo) CCWAngleLimit() (int, error) {
	return s.getRegister(reg.CcwAngleLimit)
}

func (s *Servo) SetCCWAngleLimit(v int) error {
	return s.setRegister(reg.CcwAngleLimit, v)
}

func (s *Servo) HighestLimitTemperature() (int, error) {
	return s.getRegister(reg.HighestLimitTemperature)
}

func (s *Servo) SetHighestLimitTemperature(v int) error {
	return s.setRegister(reg.HighestLimitTemperature, v)
}

func (s *Servo) LowestLimitVoltage() (int, error) {
	return s.getRegister(reg.LowestLimitVoltage)
}

func (s *Servo) SetLowestLimitVoltage(v int) error {
	return s.setRegister(reg.LowestLimitVoltage, v)
}

func (s *Servo) HighestLimitVoltage() (int, error) {
	return s.getRegister(reg.HighestLimitVoltage)
}

func (s *Servo) SetHighestLimitVoltage(v int) error {
	return s.setRegister(reg.HighestLimitVoltage, v)
}

func (s *Servo) MaxTorque() (int, error) {
	return s.getRegister(reg.MaxTorque)
}

func (s *Servo) SetMaxTorque(v int) error {
	return s.setRegister(reg.MaxTorque, v)
}

func (s *Servo) AlarmLED() (int, error) {
	return s.getRegister(reg.AlarmLed)
}

func (s *Servo) SetAlarmLED(v int) error {
	return s.setRegister(reg.AlarmLed, v)
}

func (s *Servo) AlarmShutdown() (int, error) {
	return s.getRegister(reg.AlarmShutdown)
}

func (s *Servo) SetAlarmShutdown(v int) error {
	return s.setRegister(reg.AlarmShutdown, v)
}

func (s *Servo) TorqueEnable() (bool, error) {
	v, err := s.getRegister(reg.TorqueEnable)
	return utils.IntToBool(v), err
}

// SetTorqueEnable enables or disables torque.
func (s *Servo) SetTorqueEnable(state bool) error {
	return s.setRegister(reg.TorqueEnable, utils.BoolToInt(state))
}

// LED returns the current state of the servo's LED.
// TODO: Should we continue to return bool here, or expose the int?
func (s *Servo) LED() (bool, error) {
	v, err := s.getRegister(reg.Led)
	return utils.IntToBool(v), err
}

// Enables or disables the servo's LED.
func (s *Servo) SetLED(state bool) error {
	return s.setRegister(reg.Led, utils.BoolToInt(state))
}

func (s *Servo) CWComplianceMargin() (int, error) {
	return s.getRegister(reg.CwComplianceMargin)
}

func (s *Servo) SetCWComplianceMargin(v int) error {
	return s.setRegister(reg.CwComplianceMargin, v)
}

func (s *Servo) CCWComplianceMargin() (int, error) {
	return s.getRegister(reg.CcwComplianceMargin)
}

func (s *Servo) SetCCWComplianceMarginval(v int) error {
	return s.setRegister(reg.CcwComplianceMargin, v)
}

func (s *Servo) CWComplianceSlope() (int, error) {
	return s.getRegister(reg.CwComplianceSlope)
}

func (s *Servo) SetCWComplianceSlope(v int) error {
	return s.setRegister(reg.CwComplianceSlope, v)
}

func (s *Servo) CCWComplianceSlope() (int, error) {
	return s.getRegister(reg.CcwComplianceSlope)
}

func (s *Servo) SetCCWComplianceSlope(v int) error {
	return s.setRegister(reg.CcwComplianceSlope, v)
}

func (s *Servo) GoalPosition() (int, error) {
	return s.getRegister(reg.GoalPosition)
}

func (s *Servo) PGain() (int, error) {
	return s.getRegister(reg.PGain)
}

func (s *Servo) SetPGain(v int) (error) {
	return s.setRegister(reg.PGain, v)
}

func (s *Servo) IGain() (int, error) {
	return s.getRegister(reg.IGain)
}

func (s *Servo) SetIGain(v int) (error) {
	return s.setRegister(reg.IGain, v)
}

func (s *Servo) DGain() (int, error) {
	return s.getRegister(reg.DGain)
}

func (s *Servo) SetDGain(v int) (error) {
	return s.setRegister(reg.DGain, v)
}

// SetGoalPosition sets the goal position.
//
// TODO: Reject if the servo is in wheel mode (where CW and CCW angle limit
//       is zero).
//
func (s *Servo) SetGoalPosition(pos int) error {
	return s.setRegister(reg.GoalPosition, pos)
}
func (s *Servo) SetGoalPWM(val int) error {
	return s.setRegister(reg.GoalPWM, val)
}
func (s *Servo) SetProfileVelocity(val int) error {
	return s.setRegister(reg.ProfileVelocity, val)
}
func (s *Servo) SetProfileAcceleration(val int) error {
	return s.setRegister(reg.ProfileAcceleration, val)
}

// MovingSpeed returns the current moving speed. This is not the speed at which
// the motor is moving, it's the speed at which the servo wants to move.
func (s *Servo) MovingSpeed() (int, error) {
	return s.getRegister(reg.MovingSpeed)
}

// SetMovingSpeed the moving speed.
//
// Note: Setting the moving speed appears to reset the TorqueEnabled register to
//       true, at least on my AX12s.
//
func (s *Servo) SetMovingSpeed(speed int) error {
	return s.setRegister(reg.MovingSpeed, speed)
}

func (s *Servo) TorqueLimit() (int, error) {
	return s.getRegister(reg.TorqueLimit)
}

func (s *Servo) SetTorqueLimit(val int) error {
	return s.setRegister(reg.TorqueLimit, val)
}

func (s *Servo) PresentPosition() (int, error) {
	return s.getRegister(reg.PresentPosition)
}

func (s *Servo) PresentSpeed() (int, error) {
	return s.getRegister(reg.PresentSpeed)
}

func (s *Servo) PresentVoltage() (int, error) {
	return s.getRegister(reg.PresentVoltage)
}

func (s *Servo) PresentLoad() (int, error) {
	return s.getRegister(reg.PresentLoad)
}

func (s *Servo) PresentTemperature() (int, error) {
	return s.getRegister(reg.PresentTemperature)
}

func (s *Servo) RegisteredInstruction() (int, error) {
	return s.getRegister(reg.RegisteredInstruction)
}

func (s *Servo) Moving() (int, error) {
	return s.getRegister(reg.Moving)
}

func (s *Servo) MovingThreshold() (int, error) {
	return s.getRegister(reg.MovingThreshold)
}

func (s *Servo) SetMovingThreshold(v int) error {
	return s.setRegister(reg.MovingThreshold, v)
}

func (s *Servo) MinPositionLimit() (int, error) {
	return s.getRegister(reg.MinPositionLimit)
}

func (s *Servo) SetMinPositionLimit(v int) error {
	return s.setRegister(reg.MinPositionLimit, v)
}

func (s *Servo) MaxPositionLimit() (int, error) {
	return s.getRegister(reg.MaxPositionLimit)
}

func (s *Servo) SetMaxPositionLimit(v int) error {
	return s.setRegister(reg.MaxPositionLimit, v)
}

// TODO: Rename this to avoid confusion?
func (s *Servo) Lock() (int, error) {
	return s.getRegister(reg.Lock)
}

func (s *Servo) SetLock(isLocked int) error {
	return s.setRegister(reg.Lock, isLocked)
}