Class DynamixelDriver

Defined in File dynamixel_driver.h

Inheritance Relationships

Derived Type

public DynamixelWorkbench (Class DynamixelWorkbench)

Class Documentation

class DynamixelDriver

Subclassed by DynamixelWorkbench

Public Functions

DynamixelDriver()

~DynamixelDriver()

bool init(const char *device_name = "/dev/ttyUSB0", uint32_t baud_rate = 57600, const char **log = NULL)

bool begin(const char *device_name = "/dev/ttyUSB0", uint32_t baud_rate = 57600, const char **log = NULL)

bool setPortHandler(const char *device_name, const char **log = NULL)

bool setBaudrate(uint32_t baud_rate, const char **log = NULL)

bool setPacketHandler(float protocol_version, const char **log = NULL)

float getProtocolVersion(void)

uint32_t getBaudrate(void)

const char *getModelName(uint8_t id, const char **log = NULL)

uint16_t getModelNumber(uint8_t id, const char **log = NULL)

const ControlItem *getControlTable(uint8_t id, const char **log = NULL)

const ControlItem *getItemInfo(uint8_t id, const char *item_name, const char **log = NULL)

uint8_t getTheNumberOfControlItem(uint8_t id, const char **log = NULL)

const ModelInfo *getModelInfo(uint8_t id, const char **log = NULL)

uint8_t getTheNumberOfSyncWriteHandler(void)

uint8_t getTheNumberOfSyncReadHandler(void)

uint8_t getTheNumberOfBulkReadParam(void)

bool scan(uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t range = 253, const char **log = NULL)

bool scan(uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t start_number, uint8_t end_number, const char **log = NULL)

bool ping(uint8_t id, uint16_t *get_model_number, const char **log = NULL)

bool ping(uint8_t id, const char **log = NULL)

bool clearMultiTurn(uint8_t id, const char **log = NULL)

bool reboot(uint8_t id, const char **log = NULL)

bool reset(uint8_t id, const char **log = NULL)

bool writeRegister(uint8_t id, uint16_t address, uint16_t length, uint8_t *data, const char **log = NULL)

bool writeRegister(uint8_t id, const char *item_name, int32_t data, const char **log = NULL)

bool writeOnlyRegister(uint8_t id, uint16_t address, uint16_t length, uint8_t *data, const char **log = NULL)

bool writeOnlyRegister(uint8_t id, const char *item_name, int32_t data, const char **log = NULL)

bool readRegister(uint8_t id, uint16_t address, uint16_t length, uint32_t *data, const char **log = NULL)

bool readRegister(uint8_t id, const char *item_name, int32_t *data, const char **log = NULL)

void getParam(int32_t data, uint8_t *param)

bool addSyncWriteHandler(uint16_t address, uint16_t length, const char **log = NULL)

bool addSyncWriteHandler(uint8_t id, const char *item_name, const char **log = NULL)

bool syncWrite(uint8_t index, int32_t *data, const char **log = NULL)

bool syncWrite(uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, uint8_t data_num_for_each_id, const char **log = NULL)

bool addSyncReadHandler(uint16_t address, uint16_t length, const char **log = NULL)

bool addSyncReadHandler(uint8_t id, const char *item_name, const char **log = NULL)

bool syncRead(uint8_t index, const char **log = NULL)

bool syncRead(uint8_t index, uint8_t *id, uint8_t id_num, const char **log = NULL)

bool getSyncReadData(uint8_t index, int32_t *data, const char **log = NULL)

bool getSyncReadData(uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, const char **log = NULL)

bool getSyncReadData(uint8_t index, uint8_t *id, uint8_t id_num, uint16_t address, uint16_t length, int32_t *data, const char **log = NULL)

bool initBulkWrite(const char **log = NULL)

bool addBulkWriteParam(uint8_t id, uint16_t address, uint16_t length, int32_t data, const char **log = NULL)

bool addBulkWriteParam(uint8_t id, const char *item_name, int32_t data, const char **log = NULL)

bool bulkWrite(const char **log = NULL)

bool initBulkRead(const char **log = NULL)

bool addBulkReadParam(uint8_t id, uint16_t address, uint16_t length, const char **log = NULL)

bool addBulkReadParam(uint8_t id, const char *item_name, const char **log = NULL)

bool bulkRead(const char **log = NULL)

bool getBulkReadData(int32_t *data, const char **log = NULL)

bool getBulkReadData(uint8_t *id, uint8_t id_num, uint16_t *address, uint16_t *length, int32_t *data, const char **log = NULL)

bool clearBulkReadParam(void)