ping.cpp File Reference

#include <stdio.h>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <dynamixel_sdk/dynamixel_sdk.h>
#include "robotican_hardware_interface/dynamixel_driver.h"
#include <ros/package.h>
#include "yaml-cpp/yaml.h"

Include dependency graph for ping.cpp:

Go to the source code of this file.

Classes
struct	dynamixel_spec
struct	motor
Defines
#define	BAUDRATE   57600
#define	DEVICENAME   "/dev/ttyUSB0"
#define	PROTOCOL_VERSION   2.0
Functions
bool	bulk_read ()
bool	bulk_write ()
void	CmdCallback (const sensor_msgs::JointStateConstPtr &msg)
int	getch ()
void	initSpecFile ()
int	kbhit (void)
int	main (int argc, char **argv)
bool	ping (struct motor &motor)
int32_t	rads2ticks (double rads, struct motor &motor)
bool	setTorque (struct motor &motor, bool onoff)
double	ticks2rads (int32_t ticks, struct motor &motor)
Variables
std::map< uint16_t, dynamixel_spec >	_modelSpec
struct motor *	motors
int	num_motors = 0
dynamixel::PacketHandler *	packetHandler
dynamixel::PortHandler *	portHandler

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Define Documentation

#define BAUDRATE   57600

Definition at line 43 of file ping.cpp.

#define DEVICENAME   "/dev/ttyUSB0"

Definition at line 44 of file ping.cpp.

#define PROTOCOL_VERSION   2.0

Definition at line 39 of file ping.cpp.

---

Function Documentation

bool bulk_read

(

)

Definition at line 206 of file ping.cpp.

bool bulk_write

(

)

Definition at line 169 of file ping.cpp.

void CmdCallback

(

const sensor_msgs::JointStateConstPtr &

msg

)

Definition at line 308 of file ping.cpp.

int getch

(

)

Definition at line 98 of file ping.cpp.

void initSpecFile

(

)

Definition at line 71 of file ping.cpp.

int kbhit

(

void

)

Definition at line 115 of file ping.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 319 of file ping.cpp.

bool ping

(

struct motor &

motor

)

Definition at line 256 of file ping.cpp.

int32_t rads2ticks	(	double	rads,
		struct motor &	motor
	)

bool setTorque	(	struct motor &	motor,
		bool	onoff
	)

Definition at line 147 of file ping.cpp.

double ticks2rads	(	int32_t	ticks,
		struct motor &	motor
	)

---

Variable Documentation

std::map<uint16_t, dynamixel_spec> _modelSpec

Definition at line 69 of file ping.cpp.

struct motor* motors

Definition at line 59 of file ping.cpp.

int num_motors = 0

Definition at line 60 of file ping.cpp.

dynamixel::PacketHandler* packetHandler

Definition at line 25 of file ping.cpp.

dynamixel::PortHandler* portHandler

Definition at line 24 of file ping.cpp.