Defines
3mxlControlTable.h File Reference
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Defines

#define ACTION   0x05
#define BROADCAST_ID   0xFE
#define BROADCAST_PACKET_TYPE   0x01
#define CURRENT_MODE   2
#define CURRENT_POS_AND_SPEED_MODE   14
#define DEFAULT_3MXL_ID_1   0x64
#define DEFAULT_3MXL_ID_2   0x65
#define EXTERNAL_INIT   7
#define HOME_SWITCH_AND_INDEX_INIT   13
#define INDEX_INIT   6
#define JOINT_TYPE_ARM   0x02
#define JOINT_TYPE_DIRECTDRIVE   0x04
#define JOINT_TYPE_GRIPPER   0x03
#define JOINT_TYPE_LINEAR   0x06
#define JOINT_TYPE_PASSIVE   0x07
#define JOINT_TYPE_SEA   0x05
#define JOINT_TYPE_UNKNOWN   0x0A
#define JOINT_TYPE_WHEEL   0x01
#define LAST_MESSAGE_ADDRESS   0xB1
#define LAST_MESSAGE_LENGTH   0xB2
#define M3XL_ACQUIRE_INDEX_POSITION   0xBA
#define M3XL_ACTION_BUSY   0x00
#define M3XL_ACTION_DONE   0xFF
#define M3XL_ANA1_VOLTAGE_H   0xC7
#define M3XL_ANA1_VOLTAGE_L   0xC6
#define M3XL_ANA2_VOLTAGE_H   0xC9
#define M3XL_ANA2_VOLTAGE_L   0xC8
#define M3XL_ANA3_VOLTAGE_H   0xCB
#define M3XL_ANA3_VOLTAGE_L   0xCA
#define M3XL_ANA4_VOLTAGE_H   0xCD
#define M3XL_ANA4_VOLTAGE_L   0xCC
#define M3XL_ANGLE_H   0x67
#define M3XL_ANGLE_L   0x66
#define M3XL_ANGLE_LIMIT_ERROR   0b00000010
#define M3XL_ANGULAR_RATE_H   0x69
#define M3XL_ANGULAR_RATE_L   0x68
#define M3XL_BAUD_RATE_H   0x34
#define M3XL_BAUD_RATE_L   0x32
#define M3XL_BAUD_RATE_M   0x33
#define M3XL_BUS_VOLTAGE_H   0xC3
#define M3XL_BUS_VOLTAGE_L   0xC2
#define M3XL_CCW_JOINT_ANGLE_LIMIT_H   0x59
#define M3XL_CCW_JOINT_ANGLE_LIMIT_L   0x58
#define M3XL_CCW_MOTOR_ANGLE_LIMIT_H   0x4D
#define M3XL_CCW_MOTOR_ANGLE_LIMIT_L   0x4C
#define M3XL_CHECKSUM_ERROR   0b00010000
#define M3XL_CONTROL_MODE   0x36
#define M3XL_CURRENT_H   0x63
#define M3XL_CURRENT_L   0x62
#define M3XL_CW_JOINT_ANGLE_LIMIT_H   0x57
#define M3XL_CW_JOINT_ANGLE_LIMIT_L   0x56
#define M3XL_CW_MOTOR_ANGLE_LIMIT_H   0x4B
#define M3XL_CW_MOTOR_ANGLE_LIMIT_L   0x4A
#define M3XL_D_CURRENT_H   0x75
#define M3XL_D_CURRENT_L   0x74
#define M3XL_D_ENERGY_H   0xC7
#define M3XL_D_ENERGY_L   0xC6
#define M3XL_D_POSITION_H   0x8B
#define M3XL_D_POSITION_L   0x8A
#define M3XL_D_SPEED_H   0x95
#define M3XL_D_SPEED_L   0x94
#define M3XL_D_TORQUE_H   0x9F
#define M3XL_D_TORQUE_L   0x9E
#define M3XL_DATA_LOGGER   0xC1
#define M3XL_DESIRED_ACCEL_H   0x81
#define M3XL_DESIRED_ACCEL_L   0x80
#define M3XL_DESIRED_ANGLE_H   0x83
#define M3XL_DESIRED_ANGLE_L   0x82
#define M3XL_DESIRED_ANGULAR_ACCEL_H   M3XL_DESIRED_ACCEL_H
#define M3XL_DESIRED_ANGULAR_ACCEL_L   M3XL_DESIRED_ACCEL_L
#define M3XL_DESIRED_ANGULAR_RATE_H   M3XL_DESIRED_SPEED_H
#define M3XL_DESIRED_ANGULAR_RATE_L   M3XL_DESIRED_SPEED_L
#define M3XL_DESIRED_CURRENT_H   0x71
#define M3XL_DESIRED_CURRENT_L   0x70
#define M3XL_DESIRED_LINEAR_ACCEL_H   0xAE
#define M3XL_DESIRED_LINEAR_ACCEL_L   0xAD
#define M3XL_DESIRED_LINEAR_SPEED_H   0xAC
#define M3XL_DESIRED_LINEAR_SPEED_L   0xAB
#define M3XL_DESIRED_POSITION_32_1   0x7C
#define M3XL_DESIRED_POSITION_32_2   0x7D
#define M3XL_DESIRED_POSITION_32_3   0x7E
#define M3XL_DESIRED_POSITION_32_4   0x7F
#define M3XL_DESIRED_PWM_H   0xA7
#define M3XL_DESIRED_PWM_L   0xA6
#define M3XL_DESIRED_SPEED_H   0x85
#define M3XL_DESIRED_SPEED_L   0x84
#define M3XL_DESIRED_TORQUE_H   0x87
#define M3XL_DESIRED_TORQUE_L   0x86
#define M3XL_ENABLE_DATA_LOGGER   0xBF
#define M3XL_ENCODER_COUNT_JOINT_H   0x51
#define M3XL_ENCODER_COUNT_JOINT_L   0x50
#define M3XL_ENCODER_COUNT_MOTOR_H   0x45
#define M3XL_ENCODER_COUNT_MOTOR_L   0x44
#define M3XL_GEARBOX_RATIO_JOINT_H   0x4F
#define M3XL_GEARBOX_RATIO_JOINT_L   0x4E
#define M3XL_GEARBOX_RATIO_MOTOR_H   0x43
#define M3XL_GEARBOX_RATIO_MOTOR_L   0x42
#define M3XL_I_CURRENT_H   0x77
#define M3XL_I_CURRENT_L   0x76
#define M3XL_I_ENERGY_H   0xC9
#define M3XL_I_ENERGY_L   0xC8
#define M3XL_I_POSITION_H   0x8D
#define M3XL_I_POSITION_L   0x8C
#define M3XL_I_SPEED_H   0x97
#define M3XL_I_SPEED_L   0x96
#define M3XL_I_TORQUE_H   0xA1
#define M3XL_I_TORQUE_L   0xA0
#define M3XL_ID   0x03
#define M3XL_IL_CURRENT_H   0x79
#define M3XL_IL_CURRENT_L   0x78
#define M3XL_IL_ENERGY_H   0xCB
#define M3XL_IL_ENERGY_L   0xCA
#define M3XL_IL_POSITION_H   0x8F
#define M3XL_IL_POSITION_L   0x8E
#define M3XL_IL_SPEED_H   0x99
#define M3XL_IL_SPEED_L   0x98
#define M3XL_IL_TORQUE_H   0xA3
#define M3XL_IL_TORQUE_L   0xA2
#define M3XL_INDEX_POSITION_32_1   0xBB
#define M3XL_INDEX_POSITION_32_2   0xBC
#define M3XL_INDEX_POSITION_32_3   0xBD
#define M3XL_INDEX_POSITION_32_4   0xBE
#define M3XL_INITIALIZED   0xA9
#define M3XL_INPUT_VOLTAGE_ERROR   0b00000001
#define M3XL_INSTRUCTION_ERROR   0b01000000
#define M3XL_JOINT_ENC_DIRECTION   0x5E
#define M3XL_JOINT_ENC_INDEX_LEVEL   0x5F
#define M3XL_JOINT_TYPE_H   0x01
#define M3XL_JOINT_TYPE_L   0x00
#define M3XL_LINEAR_SPEED_H   M3XL_SPEED_H
#define M3XL_LINEAR_SPEED_L   M3XL_SPEED_L
#define M3XL_LOG_ARRAY_SIZE   500
#define M3XL_LOG_DATA_INTERVAL   0xC0
#define M3XL_MAX_CONTINUOUS_MOTOR_CURRENT_H   0x3D
#define M3XL_MAX_CONTINUOUS_MOTOR_CURRENT_L   0x3C
#define M3XL_MAX_JERK_H   0xB0
#define M3XL_MAX_JERK_L   0xAF
#define M3XL_MAX_JOINT_TORQUE_H   0x55
#define M3XL_MAX_JOINT_TORQUE_L   0x54
#define M3XL_MAX_MOTOR_CURRENT   40.0
#define M3XL_MAX_MOTOR_PEAK_CURRENT_H   0x3F
#define M3XL_MAX_MOTOR_PEAK_CURRENT_L   0x3E
#define M3XL_MOTOR_CONSTANT_H   0x3B
#define M3XL_MOTOR_CONSTANT_L   0x3A
#define M3XL_MOTOR_CURRENT_H   0xC5
#define M3XL_MOTOR_CURRENT_L   0xC4
#define M3XL_MOTOR_ENC_DIRECTION   0x48
#define M3XL_MOTOR_ENC_INDEX_LEVEL   0x49
#define M3XL_MOTOR_WINDING_TIME_CONSTANT_H   0x41
#define M3XL_MOTOR_WINDING_TIME_CONSTANT_L   0x40
#define M3XL_NO_ERROR   0b00000000
#define M3XL_NR_OF_BLOCKS   (M3XL_LOG_ARRAY_SIZE / M3XL_NR_OF_SAMPLES_PER_BLOCK)
#define M3XL_NR_OF_BYTES_PER_BLOCK   (M3XL_NR_OF_SAMPLES_PER_BLOCK * M3XL_NR_OF_BYTES_PER_SAMPLE)
#define M3XL_NR_OF_BYTES_PER_SAMPLE   22
#define M3XL_NR_OF_SAMPLES_PER_BLOCK   5
#define M3XL_OFFSET_JOINT_H   0x53
#define M3XL_OFFSET_JOINT_L   0x52
#define M3XL_OFFSET_MOTOR_H   0X47
#define M3XL_OFFSET_MOTOR_L   0X46
#define M3XL_OVERHEATING_ERROR   0b00000100
#define M3XL_OVERLOAD_ERROR   0b00100000
#define M3XL_P_CURRENT_H   0x73
#define M3XL_P_CURRENT_L   0x72
#define M3XL_P_ENERGY_H   0xC5
#define M3XL_P_ENERGY_L   0xC4
#define M3XL_P_POSITION_H   0x89
#define M3XL_P_POSITION_L   0x88
#define M3XL_P_SPEED_H   0x93
#define M3XL_P_SPEED_L   0x92
#define M3XL_P_TORQUE_H   0x9D
#define M3XL_P_TORQUE_L   0x9C
#define M3XL_PID_CURRENT_SCALE_H   0x7B
#define M3XL_PID_CURRENT_SCALE_L   0x7A
#define M3XL_PID_ENERGY_SCALE_H   0xCD
#define M3XL_PID_ENERGY_SCALE_L   0xCC
#define M3XL_PID_POSITION_SCALE_H   0x91
#define M3XL_PID_POSITION_SCALE_L   0x90
#define M3XL_PID_SPEED_SCALE_H   0x9B
#define M3XL_PID_SPEED_SCALE_L   0x9A
#define M3XL_PID_TORQUE_SCALE_H   0xA5
#define M3XL_PID_TORQUE_SCALE_L   0xA4
#define M3XL_POSITION_32_1   0x6A
#define M3XL_POSITION_32_2   0x6B
#define M3XL_POSITION_32_3   0x6C
#define M3XL_POSITION_32_4   0x6D
#define M3XL_RANGE_ERROR   0b00001000
#define M3XL_REFERENCE_ENERGY_H   0xCF
#define M3XL_REFERENCE_ENERGY_L   0xCE
#define M3XL_RETURN_DELAY_TIME   0x35
#define M3XL_SINUSOIDAL_AMPLITUDE_H   0xB8
#define M3XL_SINUSOIDAL_AMPLITUDE_L   0xB7
#define M3XL_SINUSOIDAL_FREQUENCY_H   0xB6
#define M3XL_SINUSOIDAL_FREQUENCY_L   0xB5
#define M3XL_SINUSOIDAL_PHASE_ANGLE_H   0xBA
#define M3XL_SINUSOIDAL_PHASE_ANGLE_L   0xB9
#define M3XL_SPEED_H   0x6F
#define M3XL_SPEED_L   0x6E
#define M3XL_SPRING_STIFFNESS_H   0x5D
#define M3XL_SPRING_STIFFNESS_L   0x5C
#define M3XL_STATUS   0xA8
#define M3XL_STATUS_CURRENT_MODE_DONE   0x9B
#define M3XL_STATUS_CURRENT_MODE_EXECUTING   0x9A
#define M3XL_STATUS_EEPROM_ERROR   0x80
#define M3XL_STATUS_EM_STOP_ERROR   0x82
#define M3XL_STATUS_IDLE_STATE   0xA0
#define M3XL_STATUS_INIT_DONE   0x93
#define M3XL_STATUS_INIT_TIME_OUT_ERROR   0x83
#define M3XL_STATUS_INITIALIZE_BUSY   0X92
#define M3XL_STATUS_JOINT_STUCK_ERROR   0x88
#define M3XL_STATUS_MAX_CURRENT_ERROR   0x86
#define M3XL_STATUS_MAX_POS_ERROR   0x84
#define M3XL_STATUS_MAX_TORQUE_ERROR   0x85
#define M3XL_STATUS_MOTOR_STUCK_ERROR   0x87
#define M3XL_STATUS_MOVE_DONE   0X91
#define M3XL_STATUS_MOVING   0X90
#define M3XL_STATUS_NOT_INITIALIZED   0x81
#define M3XL_STATUS_POS_MODE_DONE   0x95
#define M3XL_STATUS_POS_MODE_EXECUTING   0x94
#define M3XL_STATUS_PROTOCOL_TIME_OUT_ERROR   0x89
#define M3XL_STATUS_PWM_MODE_DONE   0x9F
#define M3XL_STATUS_PWM_MODE_EXECUTING   0x9E
#define M3XL_STATUS_RETURN_ALL   0x02
#define M3XL_STATUS_RETURN_LEVEL   0x10
#define M3XL_STATUS_RETURN_NONE   0x00
#define M3XL_STATUS_RETURN_READ_DATA   0x01
#define M3XL_STATUS_SEA_MODE_DONE   0x9D
#define M3XL_STATUS_SEA_MODE_EXECUTING   0x9C
#define M3XL_STATUS_SINUSOIDAL_POS_MODE_DONE   0xA1
#define M3XL_STATUS_SINUSOIDAL_POS_MODE_EXECUTING   0xA0
#define M3XL_STATUS_SPEED_MODE_DONE   0x97
#define M3XL_STATUS_SPEED_MODE_EXECUTING   0x96
#define M3XL_STATUS_TORQUE_MODE_DONE   0x99
#define M3XL_STATUS_TORQUE_MODE_EXECUTING   0x98
#define M3XL_STOP_PROTOCOL_HANDLER   0xAA
#define M3XL_SYNC_READ_INDEX   0xD0
#define M3XL_TORQUE_H   0x65
#define M3XL_TORQUE_L   0x64
#define M3XL_VERSION_FIRMWARE   0x02
#define M3XL_VOLTAGE_H   0x61
#define M3XL_VOLTAGE_L   0x60
#define M3XL_WATCHDOG_MODE   0x37
#define M3XL_WATCHDOG_TIME_MS   0x38
#define M3XL_WATCHDOG_TIMER_MUL   0x39
#define M3XL_WHEEL_DIAMETER_H   0xB4
#define M3XL_WHEEL_DIAMETER_L   0xB3
#define M3XL_ZERO_LENGTH_SPRING_H   0x5B
#define M3XL_ZERO_LENGTH_SPRING_L   0x5A
#define M_PI   3.14159265358979323846
#define MANUAL_INIT   10
#define NO_INSTRUCTION   0x00
#define NORMAL_PACKET_TYPE   0x00
#define NR_OF_CONTROL_MODES   TORQUE_MODE+1
#define PING   0x01
#define POSITION_MODE   0
#define PWM_MODE   5
#define READ_DATA   0x02
#define REG_WRITE   0x04
#define RESET   0x06
#define SEA_INIT   9
#define SEA_MODE   4
#define SET_JOINT_TYPE   0xA3
#define SINUSOIDAL_POSITION_MODE   16
#define SPEED_MODE   1
#define START_UP_MODE   15
#define STOP_MODE   12
#define SYNC_WRITE   0x83
#define TEST_MODE   17
#define TIME_OUT_INIT   11
#define TORQUE_MODE   3
#define WRITE_DATA   0x03
#define WRITE_JOINT_PARAMS   0xA1
#define WRITE_MOTOR_PARAMS   0xA0
#define WRITE_SEA_SETPOINTS   0xA2
#define ZERO_SPEED_INIT   8

Define Documentation

#define ACTION   0x05

Definition at line 33 of file 3mxlControlTable.h.

#define BROADCAST_ID   0xFE

Definition at line 44 of file 3mxlControlTable.h.

#define BROADCAST_PACKET_TYPE   0x01

Definition at line 48 of file 3mxlControlTable.h.

#define DEFAULT_3MXL_ID_1   0x64

Definition at line 133 of file 3mxlControlTable.h.

#define DEFAULT_3MXL_ID_2   0x65

Definition at line 134 of file 3mxlControlTable.h.

#define JOINT_TYPE_ARM   0x02

Definition at line 143 of file 3mxlControlTable.h.

#define JOINT_TYPE_DIRECTDRIVE   0x04

Definition at line 145 of file 3mxlControlTable.h.

#define JOINT_TYPE_GRIPPER   0x03

Definition at line 144 of file 3mxlControlTable.h.

#define JOINT_TYPE_LINEAR   0x06

Definition at line 147 of file 3mxlControlTable.h.

#define JOINT_TYPE_PASSIVE   0x07

Definition at line 148 of file 3mxlControlTable.h.

#define JOINT_TYPE_SEA   0x05

Definition at line 146 of file 3mxlControlTable.h.

#define JOINT_TYPE_UNKNOWN   0x0A

Definition at line 149 of file 3mxlControlTable.h.

#define JOINT_TYPE_WHEEL   0x01

Definition at line 142 of file 3mxlControlTable.h.

#define LAST_MESSAGE_ADDRESS   0xB1

Definition at line 385 of file 3mxlControlTable.h.

#define LAST_MESSAGE_LENGTH   0xB2

Definition at line 386 of file 3mxlControlTable.h.

#define M3XL_ACQUIRE_INDEX_POSITION   0xBA

Definition at line 400 of file 3mxlControlTable.h.

#define M3XL_ACTION_BUSY   0x00

Definition at line 129 of file 3mxlControlTable.h.

#define M3XL_ACTION_DONE   0xFF

Definition at line 130 of file 3mxlControlTable.h.

#define M3XL_ANA1_VOLTAGE_H   0xC7

Definition at line 437 of file 3mxlControlTable.h.

#define M3XL_ANA1_VOLTAGE_L   0xC6

Definition at line 436 of file 3mxlControlTable.h.

#define M3XL_ANA2_VOLTAGE_H   0xC9

Definition at line 439 of file 3mxlControlTable.h.

#define M3XL_ANA2_VOLTAGE_L   0xC8

Definition at line 438 of file 3mxlControlTable.h.

#define M3XL_ANA3_VOLTAGE_H   0xCB

Definition at line 441 of file 3mxlControlTable.h.

#define M3XL_ANA3_VOLTAGE_L   0xCA

Definition at line 440 of file 3mxlControlTable.h.

#define M3XL_ANA4_VOLTAGE_H   0xCD

Definition at line 443 of file 3mxlControlTable.h.

#define M3XL_ANA4_VOLTAGE_L   0xCC

Definition at line 442 of file 3mxlControlTable.h.

#define M3XL_ANGLE_H   0x67

Definition at line 279 of file 3mxlControlTable.h.

#define M3XL_ANGLE_L   0x66

Definition at line 278 of file 3mxlControlTable.h.

#define M3XL_ANGLE_LIMIT_ERROR   0b00000010

Definition at line 88 of file 3mxlControlTable.h.

#define M3XL_ANGULAR_RATE_H   0x69

Definition at line 281 of file 3mxlControlTable.h.

#define M3XL_ANGULAR_RATE_L   0x68

Definition at line 280 of file 3mxlControlTable.h.

#define M3XL_BAUD_RATE_H   0x34

Definition at line 218 of file 3mxlControlTable.h.

#define M3XL_BAUD_RATE_L   0x32

Definition at line 216 of file 3mxlControlTable.h.

#define M3XL_BAUD_RATE_M   0x33

Definition at line 217 of file 3mxlControlTable.h.

#define M3XL_BUS_VOLTAGE_H   0xC3

Definition at line 433 of file 3mxlControlTable.h.

#define M3XL_BUS_VOLTAGE_L   0xC2

Definition at line 432 of file 3mxlControlTable.h.

#define M3XL_CCW_JOINT_ANGLE_LIMIT_H   0x59

Definition at line 262 of file 3mxlControlTable.h.

#define M3XL_CCW_JOINT_ANGLE_LIMIT_L   0x58

Definition at line 261 of file 3mxlControlTable.h.

#define M3XL_CCW_MOTOR_ANGLE_LIMIT_H   0x4D

Definition at line 247 of file 3mxlControlTable.h.

#define M3XL_CCW_MOTOR_ANGLE_LIMIT_L   0x4C

Definition at line 246 of file 3mxlControlTable.h.

#define M3XL_CHECKSUM_ERROR   0b00010000

Definition at line 85 of file 3mxlControlTable.h.

#define M3XL_CONTROL_MODE   0x36

Definition at line 220 of file 3mxlControlTable.h.

#define M3XL_CURRENT_H   0x63

Definition at line 275 of file 3mxlControlTable.h.

#define M3XL_CURRENT_L   0x62

Definition at line 274 of file 3mxlControlTable.h.

#define M3XL_CW_JOINT_ANGLE_LIMIT_H   0x57

Definition at line 260 of file 3mxlControlTable.h.

#define M3XL_CW_JOINT_ANGLE_LIMIT_L   0x56

Definition at line 259 of file 3mxlControlTable.h.

#define M3XL_CW_MOTOR_ANGLE_LIMIT_H   0x4B

Definition at line 245 of file 3mxlControlTable.h.

#define M3XL_CW_MOTOR_ANGLE_LIMIT_L   0x4A

Definition at line 244 of file 3mxlControlTable.h.

#define M3XL_D_CURRENT_H   0x75

Definition at line 301 of file 3mxlControlTable.h.

#define M3XL_D_CURRENT_L   0x74

Definition at line 300 of file 3mxlControlTable.h.

#define M3XL_D_ENERGY_H   0xC7

Definition at line 456 of file 3mxlControlTable.h.

#define M3XL_D_ENERGY_L   0xC6

Definition at line 455 of file 3mxlControlTable.h.

#define M3XL_D_POSITION_H   0x8B

Definition at line 336 of file 3mxlControlTable.h.

#define M3XL_D_POSITION_L   0x8A

Definition at line 335 of file 3mxlControlTable.h.

#define M3XL_D_SPEED_H   0x95

Definition at line 348 of file 3mxlControlTable.h.

#define M3XL_D_SPEED_L   0x94

Definition at line 347 of file 3mxlControlTable.h.

#define M3XL_D_TORQUE_H   0x9F

Definition at line 360 of file 3mxlControlTable.h.

#define M3XL_D_TORQUE_L   0x9E

Definition at line 359 of file 3mxlControlTable.h.

#define M3XL_DATA_LOGGER   0xC1

Definition at line 415 of file 3mxlControlTable.h.

#define M3XL_DESIRED_ACCEL_H   0x81

Definition at line 315 of file 3mxlControlTable.h.

#define M3XL_DESIRED_ACCEL_L   0x80

Definition at line 314 of file 3mxlControlTable.h.

#define M3XL_DESIRED_ANGLE_H   0x83

Definition at line 321 of file 3mxlControlTable.h.

#define M3XL_DESIRED_ANGLE_L   0x82

Definition at line 320 of file 3mxlControlTable.h.

Definition at line 317 of file 3mxlControlTable.h.

Definition at line 316 of file 3mxlControlTable.h.

Definition at line 327 of file 3mxlControlTable.h.

Definition at line 326 of file 3mxlControlTable.h.

#define M3XL_DESIRED_CURRENT_H   0x71

Definition at line 295 of file 3mxlControlTable.h.

#define M3XL_DESIRED_CURRENT_L   0x70

Definition at line 294 of file 3mxlControlTable.h.

#define M3XL_DESIRED_LINEAR_ACCEL_H   0xAE

Definition at line 381 of file 3mxlControlTable.h.

#define M3XL_DESIRED_LINEAR_ACCEL_L   0xAD

Definition at line 380 of file 3mxlControlTable.h.

#define M3XL_DESIRED_LINEAR_SPEED_H   0xAC

Definition at line 379 of file 3mxlControlTable.h.

#define M3XL_DESIRED_LINEAR_SPEED_L   0xAB

Definition at line 378 of file 3mxlControlTable.h.

#define M3XL_DESIRED_POSITION_32_1   0x7C

Definition at line 309 of file 3mxlControlTable.h.

#define M3XL_DESIRED_POSITION_32_2   0x7D

Definition at line 310 of file 3mxlControlTable.h.

#define M3XL_DESIRED_POSITION_32_3   0x7E

Definition at line 311 of file 3mxlControlTable.h.

#define M3XL_DESIRED_POSITION_32_4   0x7F

Definition at line 312 of file 3mxlControlTable.h.

#define M3XL_DESIRED_PWM_H   0xA7

Definition at line 369 of file 3mxlControlTable.h.

#define M3XL_DESIRED_PWM_L   0xA6

Definition at line 368 of file 3mxlControlTable.h.

#define M3XL_DESIRED_SPEED_H   0x85

Definition at line 325 of file 3mxlControlTable.h.

#define M3XL_DESIRED_SPEED_L   0x84

Definition at line 324 of file 3mxlControlTable.h.

#define M3XL_DESIRED_TORQUE_H   0x87

Definition at line 330 of file 3mxlControlTable.h.

#define M3XL_DESIRED_TORQUE_L   0x86

Definition at line 329 of file 3mxlControlTable.h.

#define M3XL_ENABLE_DATA_LOGGER   0xBF

Definition at line 412 of file 3mxlControlTable.h.

#define M3XL_ENCODER_COUNT_JOINT_H   0x51

Definition at line 254 of file 3mxlControlTable.h.

#define M3XL_ENCODER_COUNT_JOINT_L   0x50

Definition at line 253 of file 3mxlControlTable.h.

#define M3XL_ENCODER_COUNT_MOTOR_H   0x45

Definition at line 239 of file 3mxlControlTable.h.

#define M3XL_ENCODER_COUNT_MOTOR_L   0x44

Definition at line 238 of file 3mxlControlTable.h.

#define M3XL_GEARBOX_RATIO_JOINT_H   0x4F

Definition at line 252 of file 3mxlControlTable.h.

#define M3XL_GEARBOX_RATIO_JOINT_L   0x4E

Definition at line 251 of file 3mxlControlTable.h.

#define M3XL_GEARBOX_RATIO_MOTOR_H   0x43

Definition at line 237 of file 3mxlControlTable.h.

#define M3XL_GEARBOX_RATIO_MOTOR_L   0x42

Definition at line 236 of file 3mxlControlTable.h.

#define M3XL_I_CURRENT_H   0x77

Definition at line 303 of file 3mxlControlTable.h.

#define M3XL_I_CURRENT_L   0x76

Definition at line 302 of file 3mxlControlTable.h.

#define M3XL_I_ENERGY_H   0xC9

Definition at line 458 of file 3mxlControlTable.h.

#define M3XL_I_ENERGY_L   0xC8

Definition at line 457 of file 3mxlControlTable.h.

#define M3XL_I_POSITION_H   0x8D

Definition at line 338 of file 3mxlControlTable.h.

#define M3XL_I_POSITION_L   0x8C

Definition at line 337 of file 3mxlControlTable.h.

#define M3XL_I_SPEED_H   0x97

Definition at line 350 of file 3mxlControlTable.h.

#define M3XL_I_SPEED_L   0x96

Definition at line 349 of file 3mxlControlTable.h.

#define M3XL_I_TORQUE_H   0xA1

Definition at line 362 of file 3mxlControlTable.h.

#define M3XL_I_TORQUE_L   0xA0

Definition at line 361 of file 3mxlControlTable.h.

#define M3XL_ID   0x03

Definition at line 167 of file 3mxlControlTable.h.

#define M3XL_IL_CURRENT_H   0x79

Definition at line 305 of file 3mxlControlTable.h.

#define M3XL_IL_CURRENT_L   0x78

Definition at line 304 of file 3mxlControlTable.h.

#define M3XL_IL_ENERGY_H   0xCB

Definition at line 460 of file 3mxlControlTable.h.

#define M3XL_IL_ENERGY_L   0xCA

Definition at line 459 of file 3mxlControlTable.h.

#define M3XL_IL_POSITION_H   0x8F

Definition at line 340 of file 3mxlControlTable.h.

#define M3XL_IL_POSITION_L   0x8E

Definition at line 339 of file 3mxlControlTable.h.

#define M3XL_IL_SPEED_H   0x99

Definition at line 352 of file 3mxlControlTable.h.

#define M3XL_IL_SPEED_L   0x98

Definition at line 351 of file 3mxlControlTable.h.

#define M3XL_IL_TORQUE_H   0xA3

Definition at line 364 of file 3mxlControlTable.h.

#define M3XL_IL_TORQUE_L   0xA2

Definition at line 363 of file 3mxlControlTable.h.

#define M3XL_INDEX_POSITION_32_1   0xBB

Definition at line 401 of file 3mxlControlTable.h.

#define M3XL_INDEX_POSITION_32_2   0xBC

Definition at line 402 of file 3mxlControlTable.h.

#define M3XL_INDEX_POSITION_32_3   0xBD

Definition at line 403 of file 3mxlControlTable.h.

#define M3XL_INDEX_POSITION_32_4   0xBE

Definition at line 404 of file 3mxlControlTable.h.

#define M3XL_INITIALIZED   0xA9

Definition at line 373 of file 3mxlControlTable.h.

#define M3XL_INPUT_VOLTAGE_ERROR   0b00000001

Definition at line 89 of file 3mxlControlTable.h.

#define M3XL_INSTRUCTION_ERROR   0b01000000

Definition at line 83 of file 3mxlControlTable.h.

#define M3XL_JOINT_ENC_DIRECTION   0x5E

Definition at line 267 of file 3mxlControlTable.h.

#define M3XL_JOINT_ENC_INDEX_LEVEL   0x5F

Definition at line 268 of file 3mxlControlTable.h.

#define M3XL_JOINT_TYPE_H   0x01

Definition at line 165 of file 3mxlControlTable.h.

#define M3XL_JOINT_TYPE_L   0x00

Definition at line 164 of file 3mxlControlTable.h.

Definition at line 289 of file 3mxlControlTable.h.

Definition at line 288 of file 3mxlControlTable.h.

#define M3XL_LOG_ARRAY_SIZE   500

Definition at line 406 of file 3mxlControlTable.h.

#define M3XL_LOG_DATA_INTERVAL   0xC0

Definition at line 413 of file 3mxlControlTable.h.

Definition at line 231 of file 3mxlControlTable.h.

Definition at line 230 of file 3mxlControlTable.h.

#define M3XL_MAX_JERK_H   0xB0

Definition at line 383 of file 3mxlControlTable.h.

#define M3XL_MAX_JERK_L   0xAF

Definition at line 382 of file 3mxlControlTable.h.

#define M3XL_MAX_JOINT_TORQUE_H   0x55

Definition at line 258 of file 3mxlControlTable.h.

#define M3XL_MAX_JOINT_TORQUE_L   0x54

Definition at line 257 of file 3mxlControlTable.h.

#define M3XL_MAX_MOTOR_CURRENT   40.0

Definition at line 155 of file 3mxlControlTable.h.

#define M3XL_MAX_MOTOR_PEAK_CURRENT_H   0x3F

Definition at line 233 of file 3mxlControlTable.h.

#define M3XL_MAX_MOTOR_PEAK_CURRENT_L   0x3E

Definition at line 232 of file 3mxlControlTable.h.

#define M3XL_MOTOR_CONSTANT_H   0x3B

Definition at line 229 of file 3mxlControlTable.h.

#define M3XL_MOTOR_CONSTANT_L   0x3A

Definition at line 228 of file 3mxlControlTable.h.

#define M3XL_MOTOR_CURRENT_H   0xC5

Definition at line 435 of file 3mxlControlTable.h.

#define M3XL_MOTOR_CURRENT_L   0xC4

Definition at line 434 of file 3mxlControlTable.h.

#define M3XL_MOTOR_ENC_DIRECTION   0x48

Definition at line 242 of file 3mxlControlTable.h.

#define M3XL_MOTOR_ENC_INDEX_LEVEL   0x49

Definition at line 243 of file 3mxlControlTable.h.

Definition at line 235 of file 3mxlControlTable.h.

Definition at line 234 of file 3mxlControlTable.h.

#define M3XL_NO_ERROR   0b00000000

Definition at line 82 of file 3mxlControlTable.h.

Definition at line 409 of file 3mxlControlTable.h.

Definition at line 410 of file 3mxlControlTable.h.

#define M3XL_NR_OF_BYTES_PER_SAMPLE   22

Definition at line 407 of file 3mxlControlTable.h.

Definition at line 408 of file 3mxlControlTable.h.

#define M3XL_OFFSET_JOINT_H   0x53

Definition at line 256 of file 3mxlControlTable.h.

#define M3XL_OFFSET_JOINT_L   0x52

Definition at line 255 of file 3mxlControlTable.h.

#define M3XL_OFFSET_MOTOR_H   0X47

Definition at line 241 of file 3mxlControlTable.h.

#define M3XL_OFFSET_MOTOR_L   0X46

Definition at line 240 of file 3mxlControlTable.h.

#define M3XL_OVERHEATING_ERROR   0b00000100

Definition at line 87 of file 3mxlControlTable.h.

#define M3XL_OVERLOAD_ERROR   0b00100000

Definition at line 84 of file 3mxlControlTable.h.

#define M3XL_P_CURRENT_H   0x73

Definition at line 299 of file 3mxlControlTable.h.

#define M3XL_P_CURRENT_L   0x72

Definition at line 298 of file 3mxlControlTable.h.

#define M3XL_P_ENERGY_H   0xC5

Definition at line 454 of file 3mxlControlTable.h.

#define M3XL_P_ENERGY_L   0xC4

Definition at line 453 of file 3mxlControlTable.h.

#define M3XL_P_POSITION_H   0x89

Definition at line 334 of file 3mxlControlTable.h.

#define M3XL_P_POSITION_L   0x88

Definition at line 333 of file 3mxlControlTable.h.

#define M3XL_P_SPEED_H   0x93

Definition at line 346 of file 3mxlControlTable.h.

#define M3XL_P_SPEED_L   0x92

Definition at line 345 of file 3mxlControlTable.h.

#define M3XL_P_TORQUE_H   0x9D

Definition at line 358 of file 3mxlControlTable.h.

#define M3XL_P_TORQUE_L   0x9C

Definition at line 357 of file 3mxlControlTable.h.

#define M3XL_PID_CURRENT_SCALE_H   0x7B

Definition at line 307 of file 3mxlControlTable.h.

#define M3XL_PID_CURRENT_SCALE_L   0x7A

Definition at line 306 of file 3mxlControlTable.h.

#define M3XL_PID_ENERGY_SCALE_H   0xCD

Definition at line 462 of file 3mxlControlTable.h.

#define M3XL_PID_ENERGY_SCALE_L   0xCC

Definition at line 461 of file 3mxlControlTable.h.

#define M3XL_PID_POSITION_SCALE_H   0x91

Definition at line 342 of file 3mxlControlTable.h.

#define M3XL_PID_POSITION_SCALE_L   0x90

Definition at line 341 of file 3mxlControlTable.h.

#define M3XL_PID_SPEED_SCALE_H   0x9B

Definition at line 354 of file 3mxlControlTable.h.

#define M3XL_PID_SPEED_SCALE_L   0x9A

Definition at line 353 of file 3mxlControlTable.h.

#define M3XL_PID_TORQUE_SCALE_H   0xA5

Definition at line 366 of file 3mxlControlTable.h.

#define M3XL_PID_TORQUE_SCALE_L   0xA4

Definition at line 365 of file 3mxlControlTable.h.

#define M3XL_POSITION_32_1   0x6A

Definition at line 282 of file 3mxlControlTable.h.

#define M3XL_POSITION_32_2   0x6B

Definition at line 283 of file 3mxlControlTable.h.

#define M3XL_POSITION_32_3   0x6C

Definition at line 284 of file 3mxlControlTable.h.

#define M3XL_POSITION_32_4   0x6D

Definition at line 285 of file 3mxlControlTable.h.

#define M3XL_RANGE_ERROR   0b00001000

Definition at line 86 of file 3mxlControlTable.h.

#define M3XL_REFERENCE_ENERGY_H   0xCF

Definition at line 465 of file 3mxlControlTable.h.

#define M3XL_REFERENCE_ENERGY_L   0xCE

Definition at line 464 of file 3mxlControlTable.h.

#define M3XL_RETURN_DELAY_TIME   0x35

Definition at line 219 of file 3mxlControlTable.h.

#define M3XL_SINUSOIDAL_AMPLITUDE_H   0xB8

Definition at line 395 of file 3mxlControlTable.h.

#define M3XL_SINUSOIDAL_AMPLITUDE_L   0xB7

Definition at line 394 of file 3mxlControlTable.h.

#define M3XL_SINUSOIDAL_FREQUENCY_H   0xB6

Definition at line 393 of file 3mxlControlTable.h.

#define M3XL_SINUSOIDAL_FREQUENCY_L   0xB5

Definition at line 392 of file 3mxlControlTable.h.

#define M3XL_SINUSOIDAL_PHASE_ANGLE_H   0xBA

Definition at line 397 of file 3mxlControlTable.h.

#define M3XL_SINUSOIDAL_PHASE_ANGLE_L   0xB9

Definition at line 396 of file 3mxlControlTable.h.

#define M3XL_SPEED_H   0x6F

Definition at line 287 of file 3mxlControlTable.h.

#define M3XL_SPEED_L   0x6E

Definition at line 286 of file 3mxlControlTable.h.

#define M3XL_SPRING_STIFFNESS_H   0x5D

Definition at line 266 of file 3mxlControlTable.h.

#define M3XL_SPRING_STIFFNESS_L   0x5C

Definition at line 265 of file 3mxlControlTable.h.

#define M3XL_STATUS   0xA8

Definition at line 372 of file 3mxlControlTable.h.

#define M3XL_STATUS_RETURN_ALL   0x02

Definition at line 139 of file 3mxlControlTable.h.

#define M3XL_STATUS_RETURN_LEVEL   0x10

Definition at line 168 of file 3mxlControlTable.h.

#define M3XL_STATUS_RETURN_NONE   0x00

Definition at line 137 of file 3mxlControlTable.h.

#define M3XL_STATUS_RETURN_READ_DATA   0x01

Definition at line 138 of file 3mxlControlTable.h.

#define M3XL_STOP_PROTOCOL_HANDLER   0xAA

Definition at line 375 of file 3mxlControlTable.h.

#define M3XL_SYNC_READ_INDEX   0xD0

Definition at line 449 of file 3mxlControlTable.h.

#define M3XL_TORQUE_H   0x65

Definition at line 277 of file 3mxlControlTable.h.

#define M3XL_TORQUE_L   0x64

Definition at line 276 of file 3mxlControlTable.h.

#define M3XL_VERSION_FIRMWARE   0x02

Definition at line 166 of file 3mxlControlTable.h.

#define M3XL_VOLTAGE_H   0x61

Definition at line 273 of file 3mxlControlTable.h.

#define M3XL_VOLTAGE_L   0x60

Definition at line 272 of file 3mxlControlTable.h.

#define M3XL_WATCHDOG_MODE   0x37

Definition at line 223 of file 3mxlControlTable.h.

#define M3XL_WATCHDOG_TIME_MS   0x38

Definition at line 224 of file 3mxlControlTable.h.

#define M3XL_WATCHDOG_TIMER_MUL   0x39

Definition at line 225 of file 3mxlControlTable.h.

#define M3XL_WHEEL_DIAMETER_H   0xB4

Definition at line 389 of file 3mxlControlTable.h.

#define M3XL_WHEEL_DIAMETER_L   0xB3

Definition at line 388 of file 3mxlControlTable.h.

#define M3XL_ZERO_LENGTH_SPRING_H   0x5B

Definition at line 264 of file 3mxlControlTable.h.

#define M3XL_ZERO_LENGTH_SPRING_L   0x5A

Definition at line 263 of file 3mxlControlTable.h.

#define M_PI   3.14159265358979323846

Definition at line 158 of file 3mxlControlTable.h.

#define NO_INSTRUCTION   0x00

Definition at line 28 of file 3mxlControlTable.h.

#define NORMAL_PACKET_TYPE   0x00

Definition at line 47 of file 3mxlControlTable.h.

#define PING   0x01

Definition at line 29 of file 3mxlControlTable.h.

#define READ_DATA   0x02

Definition at line 30 of file 3mxlControlTable.h.

#define REG_WRITE   0x04

Definition at line 32 of file 3mxlControlTable.h.

#define RESET   0x06

Definition at line 34 of file 3mxlControlTable.h.

#define SET_JOINT_TYPE   0xA3

Definition at line 41 of file 3mxlControlTable.h.

#define SYNC_WRITE   0x83

Definition at line 35 of file 3mxlControlTable.h.

#define WRITE_DATA   0x03

Definition at line 31 of file 3mxlControlTable.h.

#define WRITE_JOINT_PARAMS   0xA1

Definition at line 39 of file 3mxlControlTable.h.

#define WRITE_MOTOR_PARAMS   0xA0

Definition at line 38 of file 3mxlControlTable.h.

#define WRITE_SEA_SETPOINTS   0xA2

Definition at line 40 of file 3mxlControlTable.h.



threemxl
Author(s):
autogenerated on Thu Jun 6 2019 21:10:52