Class DynamixelX

Inheritance Relationships

Base Type

Derived Types

Class Documentation

class DynamixelX : public dynamixel_base::DynamixelBase

Subclassed by dynamixel_xh430::DynamixelXH430, dynamixel_xh540::DynamixelXH540, dynamixel_xm430::DynamixelXM430, dynamixel_xm540::DynamixelXM540

Public Functions

explicit DynamixelX(const uint8_t id, const int home_position = 2048)
virtual bool read_operating_mode(const dynamixel_base::comm_t &comm, uint8_t &mode)
virtual bool write_operating_mode(const dynamixel_base::comm_t &comm, const uint8_t mode)
virtual bool read_current_limit(const dynamixel_base::comm_t &comm, double &limit_ampere)
virtual bool read_max_position_limit(const dynamixel_base::comm_t &comm, double &limit_radian)
virtual bool read_min_position_limit(const dynamixel_base::comm_t &comm, double &limit_radian)
virtual bool write_torque_enable(const dynamixel_base::comm_t &comm, const bool enable)
virtual bool write_velocity_i_gain(const dynamixel_base::comm_t &comm, const unsigned int gain)
virtual bool write_velocity_p_gain(const dynamixel_base::comm_t &comm, const unsigned int gain)
virtual bool write_position_d_gain(const dynamixel_base::comm_t &comm, const unsigned int gain)
virtual bool write_position_i_gain(const dynamixel_base::comm_t &comm, const unsigned int gain)
virtual bool write_position_p_gain(const dynamixel_base::comm_t &comm, const unsigned int gain)
virtual bool write_profile_acceleration(const dynamixel_base::comm_t &comm, const double acceleration_rpss)
virtual bool write_profile_velocity(const dynamixel_base::comm_t &comm, const double velocity_rps)
virtual unsigned int to_profile_acceleration(const double acceleration_rpss)
virtual unsigned int to_profile_velocity(const double velocity_rps)
virtual double to_position_radian(const int position)
virtual double to_velocity_rps(const int velocity)
virtual double to_current_ampere(const int current)
virtual double to_voltage_volt(const int voltage)
virtual unsigned int from_position_radian(const double position_rad)
virtual unsigned int from_velocity_rps(const double velocity_rps)
virtual unsigned int from_current_ampere(const double current_ampere)
virtual bool auto_set_indirect_address_of_present_position(const dynamixel_base::comm_t &comm)
virtual bool auto_set_indirect_address_of_present_velocity(const dynamixel_base::comm_t &comm)
virtual bool auto_set_indirect_address_of_present_current(const dynamixel_base::comm_t &comm)
virtual bool auto_set_indirect_address_of_present_input_voltage(const dynamixel_base::comm_t &comm)
virtual bool auto_set_indirect_address_of_present_temperature(const dynamixel_base::comm_t &comm)
virtual bool auto_set_indirect_address_of_goal_position(const dynamixel_base::comm_t &comm)
virtual bool auto_set_indirect_address_of_goal_velocity(const dynamixel_base::comm_t &comm)
virtual bool auto_set_indirect_address_of_goal_current(const dynamixel_base::comm_t &comm)
virtual unsigned int indirect_addr_of_present_position(void)
virtual unsigned int indirect_addr_of_present_velocity(void)
virtual unsigned int indirect_addr_of_present_current(void)
virtual unsigned int indirect_addr_of_present_input_voltage(void)
virtual unsigned int indirect_addr_of_present_temperature(void)
virtual unsigned int indirect_addr_of_goal_position(void)
virtual unsigned int indirect_addr_of_goal_velocity(void)
virtual unsigned int indirect_addr_of_goal_current(void)
virtual unsigned int start_address_for_indirect_read(void)
virtual unsigned int length_of_indirect_data_read(void)
virtual unsigned int next_indirect_addr_read(void) const
virtual unsigned int start_address_for_indirect_write(void)
virtual unsigned int length_of_indirect_data_write(void)
virtual unsigned int next_indirect_addr_write(void) const
virtual bool extract_present_position_from_sync_read(const dynamixel_base::comm_t &comm, const std::string &group_name, double &position_rad)
virtual bool extract_present_velocity_from_sync_read(const dynamixel_base::comm_t &comm, const std::string &group_name, double &velocity_rps)
virtual bool extract_present_current_from_sync_read(const dynamixel_base::comm_t &comm, const std::string &group_name, double &current_ampere)
virtual bool extract_present_input_voltage_from_sync_read(const dynamixel_base::comm_t &comm, const std::string &group_name, double &voltage_volt)
virtual bool extract_present_temperature_from_sync_read(const dynamixel_base::comm_t &comm, const std::string &group_name, int &temperature_deg)
virtual void push_back_position_for_sync_write(const double position_rad, std::vector<uint8_t> &write_data)
virtual void push_back_velocity_for_sync_write(const double velocity_rps, std::vector<uint8_t> &write_data)
virtual void push_back_current_for_sync_write(const double current_ampere, std::vector<uint8_t> &write_data)

Protected Functions

bool set_indirect_address_read(const dynamixel_base::comm_t &comm, const uint16_t addr, const uint16_t len, uint16_t &indirect_addr)
bool set_indirect_address_write(const dynamixel_base::comm_t &comm, const uint16_t addr, const uint16_t len, uint16_t &indirect_addr)

Protected Attributes

int HOME_POSITION_
unsigned int total_length_of_indirect_addr_read_
unsigned int total_length_of_indirect_addr_write_
uint16_t indirect_addr_of_present_position_
uint16_t indirect_addr_of_present_velocity_
uint16_t indirect_addr_of_present_current_
uint16_t indirect_addr_of_present_input_voltage_
uint16_t indirect_addr_of_present_temperature_
uint16_t indirect_addr_of_goal_position_
uint16_t indirect_addr_of_goal_velocity_
uint16_t indirect_addr_of_goal_current_