dynamixel_const.h File Reference

#include <stdint.h>
#include <string>

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Namespaces
namespace	dynamixel_hardware_interface
Typedefs
typedef enum dynamixel_hardware_interface::DynamixelControlEnum	dynamixel_hardware_interface::DynamixelControl
typedef enum dynamixel_hardware_interface::DynamixelErrorCodeEnum	dynamixel_hardware_interface::DynamixelErrorCode
typedef enum dynamixel_hardware_interface::DynamixelInstructionEnum	dynamixel_hardware_interface::DynamixelInstruction
typedef enum dynamixel_hardware_interface::DynamixelParamsEnum	dynamixel_hardware_interface::DynamixelParams
Enumerations
enum	dynamixel_hardware_interface::DynamixelControlEnum {   dynamixel_hardware_interface::DXL_MODEL_NUMBER_L = 0, dynamixel_hardware_interface::DXL_MODEL_NUMBER_H = 1, dynamixel_hardware_interface::DXL_FIRMWARE_VERSION = 2, dynamixel_hardware_interface::DXL_ID = 3,   dynamixel_hardware_interface::DXL_BAUD_RATE = 4, dynamixel_hardware_interface::DXL_RETURN_DELAY_TIME = 5, dynamixel_hardware_interface::DXL_CW_ANGLE_LIMIT_L = 6, dynamixel_hardware_interface::DXL_CW_ANGLE_LIMIT_H = 7,   dynamixel_hardware_interface::DXL_CCW_ANGLE_LIMIT_L = 8, dynamixel_hardware_interface::DXL_CCW_ANGLE_LIMIT_H = 9, dynamixel_hardware_interface::DXL_DRIVE_MODE = 10, dynamixel_hardware_interface::DXL_LIMIT_TEMPERATURE = 11,   dynamixel_hardware_interface::DXL_DOWN_LIMIT_VOLTAGE = 12, dynamixel_hardware_interface::DXL_UP_LIMIT_VOLTAGE = 13, dynamixel_hardware_interface::DXL_MAX_TORQUE_L = 14, dynamixel_hardware_interface::DXL_MAX_TORQUE_H = 15,   dynamixel_hardware_interface::DXL_RETURN_LEVEL = 16, dynamixel_hardware_interface::DXL_ALARM_LED = 17, dynamixel_hardware_interface::DXL_ALARM_SHUTDOWN = 18, dynamixel_hardware_interface::DXL_OPERATING_MODE = 19,   dynamixel_hardware_interface::DXL_DOWN_CALIBRATION_L = 20, dynamixel_hardware_interface::DXL_DOWN_CALIBRATION_H = 21, dynamixel_hardware_interface::DXL_UP_CALIBRATION_L = 22, dynamixel_hardware_interface::DXL_UP_CALIBRATION_H = 23,   dynamixel_hardware_interface::DXL_TORQUE_ENABLE = 24, dynamixel_hardware_interface::DXL_LED = 25, dynamixel_hardware_interface::DXL_CW_COMPLIANCE_MARGIN = 26, dynamixel_hardware_interface::DXL_CCW_COMPLIANCE_MARGIN = 27,   dynamixel_hardware_interface::DXL_CW_COMPLIANCE_SLOPE = 28, dynamixel_hardware_interface::DXL_CCW_COMPLIANCE_SLOPE = 29, dynamixel_hardware_interface::DXL_GOAL_POSITION_L = 30, dynamixel_hardware_interface::DXL_GOAL_POSITION_H = 31,   dynamixel_hardware_interface::DXL_GOAL_SPEED_L = 32, dynamixel_hardware_interface::DXL_GOAL_SPEED_H = 33, dynamixel_hardware_interface::DXL_TORQUE_LIMIT_L = 34, dynamixel_hardware_interface::DXL_TORQUE_LIMIT_H = 35,   dynamixel_hardware_interface::DXL_PRESENT_POSITION_L = 36, dynamixel_hardware_interface::DXL_PRESENT_POSITION_H = 37, dynamixel_hardware_interface::DXL_PRESENT_SPEED_L = 38, dynamixel_hardware_interface::DXL_PRESENT_SPEED_H = 39,   dynamixel_hardware_interface::DXL_PRESENT_LOAD_L = 40, dynamixel_hardware_interface::DXL_PRESENT_LOAD_H = 41, dynamixel_hardware_interface::DXL_PRESENT_VOLTAGE = 42, dynamixel_hardware_interface::DXL_PRESENT_TEMPERATURE = 43,   dynamixel_hardware_interface::DXL_REGISTERED_INSTRUCTION = 44, dynamixel_hardware_interface::DXL_PAUSE_TIME = 45, dynamixel_hardware_interface::DXL_MOVING = 46, dynamixel_hardware_interface::DXL_LOCK = 47,   dynamixel_hardware_interface::DXL_PUNCH_L = 48, dynamixel_hardware_interface::DXL_PUNCH_H = 49, dynamixel_hardware_interface::DXL_SENSED_CURRENT_L = 56, dynamixel_hardware_interface::DXL_SENSED_CURRENT_H = 57 }
enum	dynamixel_hardware_interface::DynamixelErrorCodeEnum {   dynamixel_hardware_interface::DXL_INSTRUCTION_ERROR = 64, dynamixel_hardware_interface::DXL_OVERLOAD_ERROR = 32, dynamixel_hardware_interface::DXL_CHECKSUM_ERROR = 16, dynamixel_hardware_interface::DXL_RANGE_ERROR = 8,   dynamixel_hardware_interface::DXL_OVERHEATING_ERROR = 4, dynamixel_hardware_interface::DXL_ANGLE_LIMIT_ERROR = 2, dynamixel_hardware_interface::DXL_INPUT_VOLTAGE_ERROR = 1, dynamixel_hardware_interface::DXL_NO_ERROR = 0 }
enum	dynamixel_hardware_interface::DynamixelInstructionEnum {   dynamixel_hardware_interface::DXL_PING = 1, dynamixel_hardware_interface::DXL_READ_DATA = 2, dynamixel_hardware_interface::DXL_WRITE_DATA = 3, dynamixel_hardware_interface::DXL_REG_WRITE = 4,   dynamixel_hardware_interface::DXL_ACTION = 5, dynamixel_hardware_interface::DXL_RESET = 6, dynamixel_hardware_interface::DXL_SYNC_WRITE = 131, dynamixel_hardware_interface::DXL_BROADCAST = 254 }
enum	dynamixel_hardware_interface::DynamixelParamsEnum { dynamixel_hardware_interface::ENCODER_RESOLUTION, dynamixel_hardware_interface::RANGE_DEGREES, dynamixel_hardware_interface::TORQUE_PER_VOLT, dynamixel_hardware_interface::VELOCITY_PER_VOLT }
Functions
std::string	dynamixel_hardware_interface::getMotorModelName (int model_number)
double	dynamixel_hardware_interface::getMotorModelParams (int model_number, DynamixelParams param)
Variables
const uint16_t	dynamixel_hardware_interface::DXL_MAX_LOAD_ENCODER = 1023
const uint16_t	dynamixel_hardware_interface::DXL_MAX_TORQUE_ENCODER = 1023
const uint16_t	dynamixel_hardware_interface::DXL_MAX_VELOCITY_ENCODER = 1023
const double	dynamixel_hardware_interface::KGCM_TO_NM = 0.0980665
const double	dynamixel_hardware_interface::RPM_TO_RADSEC = 0.104719755