Program Listing for File crane_plus_driver.hpp

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// 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_