.. _program_listing_file__tmp_ws_src_crane_plus_crane_plus_control_include_crane_plus_control_crane_plus_driver.hpp:

Program Listing for File crane_plus_driver.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_crane_plus_crane_plus_control_include_crane_plus_control_crane_plus_driver.hpp>` (``/tmp/ws/src/crane_plus/crane_plus_control/include/crane_plus_control/crane_plus_driver.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020 RT Corporation
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef CRANE_PLUS_CONTROL__CRANE_PLUS_DRIVER_HPP_
   #define CRANE_PLUS_CONTROL__CRANE_PLUS_DRIVER_HPP_
   
   #include <dynamixel_sdk/dynamixel_sdk.h>
   #include <memory>
   #include <string>
   #include <vector>
   
   class CranePlusDriver
   {
   public:
     CranePlusDriver(const std::string port_name, const int baudrate, std::vector<uint8_t> id_list);
     ~CranePlusDriver();
   
     bool open_port(void);
     void close_port(void);
     std::string get_last_error_log(void);
   
     bool torque_enable(const bool enable);
     bool write_goal_joint_positions(const std::vector<double> & goal_positions);
     bool write_moving_speed_rpm(const uint8_t dxl_id, const double speed_rpm);
     bool write_moving_speed_rpm_all(const double speed_rpm);
     bool read_present_joint_positions(std::vector<double> & joint_positions);
     bool read_present_joint_speeds(std::vector<double> & joint_speeds);
     bool read_present_joint_loads(std::vector<double> & joint_loads);
     bool read_present_joint_voltages(std::vector<double> & joint_voltages);
     bool read_present_joint_temperatures(std::vector<double> & joint_temperatures);
   
   private:
     std::shared_ptr<dynamixel::PortHandler> dxl_port_handler_;
     std::shared_ptr<dynamixel::PacketHandler> dxl_packet_handler_;
     int baudrate_;
     std::vector<uint8_t> id_list_;
     std::string last_error_log_;
   
     bool read_byte_data_from_each_joints(const uint16_t address, std::vector<uint8_t> & buffer);
     bool read_word_data_from_each_joints(const uint16_t address, std::vector<uint16_t> & buffer);
     bool parse_dxl_error(
       const std::string func_name, const uint8_t dxl_id,
       const int dxl_comm_result, const uint8_t dxl_packet_error);
     double dxl_pos_to_radian(const uint16_t position);
     uint16_t radian_to_dxl_pos(const double position);
     double dxl_speed_to_rps(const uint16_t speed);
     double dxl_load_to_percent(const uint16_t load);
     double dxl_voltage_to_actual_voltage(const uint8_t voltage);
   };
   
   #endif  // CRANE_PLUS_CONTROL__CRANE_PLUS_DRIVER_HPP_