.. _program_listing_file__tmp_ws_src_dynamixel_workbench_dynamixel_workbench_toolbox_include_dynamixel_workbench_toolbox_dynamixel_tool.h:

Program Listing for File dynamixel_tool.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_dynamixel_workbench_dynamixel_workbench_toolbox_include_dynamixel_workbench_toolbox_dynamixel_tool.h>` (``/tmp/ws/src/dynamixel_workbench/dynamixel_workbench_toolbox/include/dynamixel_workbench_toolbox/dynamixel_tool.h``)

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

.. code-block:: cpp

   /*******************************************************************************
   * Copyright 2018 ROBOTIS CO., LTD.
   *
   * 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.
   *******************************************************************************/
   
   /* Authors: Taehun Lim (Darby) */
   
   #ifndef DYNAMIXEL_TOOL_H
   #define DYNAMIXEL_TOOL_H
   
   #include <string.h>
   #include <stdio.h>
   
   #include "dynamixel_item.h"
   
   class DynamixelTool
   {
    private:
     enum {DYNAMIXEL_BUFFER = 30};
     uint8_t dxl_id_[DYNAMIXEL_BUFFER];
     uint8_t dxl_cnt_;
   
     const char *model_name_;
     uint16_t model_number_;
   
     const ControlItem *control_table_;
     const ModelInfo *model_info_;
   
     uint16_t the_number_of_control_item_;
   
    public:
     DynamixelTool();
     ~DynamixelTool();
   
     void initTool(void);
   
     bool addTool(const char *model_name, uint8_t id, const char **log = NULL);
     bool addTool(uint16_t model_number, uint8_t id, const char **log = NULL);
   
     void addDXL(uint8_t id);
   
     const char *getModelName(void);
     uint16_t getModelNumber(void);
   
     const uint8_t* getID(void);
     uint8_t getDynamixelBuffer(void);
     uint8_t getDynamixelCount(void);
   
     float getRPM(void);
   
     int64_t getValueOfMinRadianPosition(void);
     int64_t getValueOfMaxRadianPosition(void);
     int64_t getValueOfZeroRadianPosition(void);
   
     float getMinRadian(void);
     float getMaxRadian(void);
   
     uint8_t getTheNumberOfControlItem(void);
     
     const ControlItem *getControlItem(const char *item_name, const char **log = NULL);
     const ControlItem *getControlTable(void);
     const ModelInfo *getModelInfo(void);
   
    private:
     bool setControlTable(const char *model_name, const char **log = NULL);
     bool setControlTable(uint16_t model_number, const char **log = NULL);
   
     bool setModelName(uint16_t model_number, const char **log = NULL);
     bool setModelNumber(const char *model_name, const char **log = NULL);
   };
   #endif //DYNAMIXEL_TOOL_H