This library provides high level access to AX12 digital actuators. It uses Raspberry Pi's serial port to control the AX12. This requires some additional electronics to communicate with the AX12's serial half duplex link. An example of such electronics can be found here.
This library is designed for Raspberry Pi with Raspbian.
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First, you need wiringPi and librobotutils.
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Once dependencies are installed, get back the sources :
git clone [email protected]:TelecomParistoc/libAX12.git -
cd to the root of the repository and enter
make -
finally enter
sudo make install
Don't forget to compile (actually, link) your C/C++ app with -lAX12 option.
You can include all the headers you need with :
#include <AX12/driver.h>It is also possible to include headers individually.
To generate a documentation of this file, you can use Doxygen. Go in the /doc directory and run
doxygen Doxyfile
Most of the AX12 features can be controlled via easy-to-use functions, including move to a given position and calling a callback upon completion. A CLI also gives access to the whole AX12 memory (see below).
For more info on AX12 driver API, see ax12driver.h.
A utility is provided for configuration and diagnostic purposes. It can read and write an AX12 memory and scan for AX12 on the bus. To use it, launch :
$ AX12
The serial baurate can be set with -b (default is 115200).
Several simple programs are provided to check that the library is working properly.
To run the tests, run make tests from the root of the repository, and run
some of the programs created in tests/.
Bindings are provided to use libAX12 with other languages than C/C++.
Most of the reasonable programmers use and love Javascript/Coffeescript. That's why a simple JS binding is provided, allowing to call AX12 driver functions from javascript. Check JSbinding/README.md for more info.
Most of the valuable programmers don't hesitate to trash javascript and to prefer a language which allows doing everything like python. That's why a simple python binding is provided (sudo make pythoninstall).