Generic interface to both CDynamixel and C3mxl. More...

#include <CDxlGeneric.h>

Inheritance diagram for CDxlGeneric:

Public Member Functions
int	action ()
	Execute registered command.
	CDxlGeneric ()
virtual int	changeID (const int newID)
	Change hardware motor ID.
virtual int	enableLED (int state)
	Enable LED.
virtual int	enableTorque (int state)
	Enable torque.
virtual int	get3MxlMode ()
	Read behavioral mode of the 3mxl.
virtual int	getAcceleration ()
	Read acceleration from hardware.
virtual int	getAngleLimits ()
	Read angle limits from hardware.
virtual int	getBusVoltage ()
	Read bus voltage from hardware.
virtual int	getCurrent ()
	Read current from hardware.
virtual int	getID ()=0
	Get motor ID.
virtual int	getLinearAcceleration ()
	Read linear acceleration from hardware.
virtual int	getLinearPos ()
	Read linear position from hardware.
virtual int	getLog ()
	Read logfile from hardware.
virtual int	getPIDCurrent (double &p, double &d, double &i, double &i_limit)
	Get PID gains for current control mode.
virtual int	getPIDEnergy (double &p, double &d, double &i, double &i_limit)
	Get PID gains for energy control mode.
virtual int	getPIDPosition (double &p, double &d, double &i, double &i_limit)
	Get PID gains for position control mode.
virtual int	getPIDSpeed (double &p, double &d, double &i, double &i_limit)
	Get PID gains for speed control mode.
virtual int	getPIDTorque (double &p, double &d, double &i, double &i_limit)
	Get PID gains for torque control mode.
virtual int	getPos ()
	Read position from hardware.
virtual int	getPosAndSpeed ()
	Read position and speed from hardware.
virtual int	getSensorVoltages ()
	Read analog sensor voltages from hardware.
virtual int	getState ()
	Read entire state from hardware.
virtual int	getStatus ()
	Read status from hardware.
virtual int	getTemp ()
	Read temperature from hardware.
virtual int	getTorque ()
	Read torque from hardware.
virtual int	getTorquePosSpeed ()
	Read torque, position and speed from hardware.
virtual int	getVoltage ()
	Read motor voltage from hardware.
virtual int	init (bool sendConfigToMotor=true)
	Initialize this Dynamixel.
virtual int	interpretControlData (BYTE address, BYTE length, BYTE *data)
	Interpret data read from control table.
int	ping ()
	Check for motor presence.
virtual BYTE	present3MxlMode ()
	Get behavioral mode of the 3mxl.
virtual double	presentAcceleration ()=0
	Get cached acceleration.
virtual double	presentAnalog1Voltage ()=0
	Get cached analog sensor 1 voltage.
virtual double	presentAnalog2Voltage ()=0
	Get cached analog sensor 2 voltage.
virtual double	presentAnalog3Voltage ()=0
	Get cached analog sensor 3 voltage.
virtual double	presentAnalog4Voltage ()=0
	Get cached analog sensor 4 voltage.
virtual double	presentAngleLowerLimit ()=0
	Get cached lower angle limit.
virtual double	presentAngleUpperLimit ()=0
	Get cached upper angle limit.
virtual double	presentBusVoltage ()=0
	Get cached bus voltage.
virtual WORD	presentCCWAngleLimit ()=0
	Get cached counter-clockwise angle limit.
virtual double	presentCurrent ()=0
	Get cached current.
virtual double	presentCurrentADCVoltage ()=0
	Get cached motor current ADC voltage.
virtual WORD	presentCWAngleLimit ()=0
	Get cached clockwise angle limit.
virtual double	presentLinearAcceleration ()=0
	Get cached linear acceleration.
virtual double	presentLinearPos ()=0
	Get cached linear position.
virtual double	presentLoad ()=0
	Get cached load value.
virtual TMxlLog	presentLog ()
	Get cached log string/file.
virtual bool	presentMotorInitState ()
	Get motor initialization state.
virtual double	presentPos ()=0
	Get cached position.
virtual double	presentSpeed ()=0
	Get cached speed.
virtual int	presentStatus ()
	Get cached status.
virtual double	presentTemp ()=0
	Get cached temperature.
virtual double	presentTorque ()=0
	Get cached torque.
virtual double	presentVoltage ()=0
	Get cached motor voltage.
virtual int	printReport (FILE *fOut)
	Report on this Dynamixel.
int	readData (BYTE startingAddress, BYTE dataLength, BYTE *data)
	Read data from hardware.
int	reset ()
	Reset control table.
virtual int	set3MxlMode (BYTE mxlMode, bool shouldSyncWrite=false)
	Set behaviour of the 3mxl.
virtual int	setAcceleration (double acceleration, bool shouldSyncWrite=false)
	Set acceleration for trajectory generation.
virtual int	setAlarmLEDMask (const BYTE mask)
	Set which conditions cause the alarm LED to blink.
virtual int	setAlarmShutdownMask (const BYTE mask)
	Set which conditions trigger a shutdown.
virtual int	setAngleLimits (double lowerLimit, double upperLimit)
	Set angle limits.
virtual int	setAngleLowerLimit (double limit)
	Set lower angle limit.
virtual int	setAngleUpperLimit (double limit)
	Set upper angle limit.
virtual int	setBaudRate (const int baudRate)
	Set baud rate in bits/s.
virtual int	setBaudRateIndex (const BYTE baudRateIndex)
	Set baud rate in Dynamixel units.
virtual int	setCompliance (BYTE complianceMargin, BYTE complianceSlope)
	Set control flexibility.
virtual void	setConfig (CDxlConfig *config)
	Set motor configuration.
virtual int	setCurrent (double current, bool shouldSyncWrite=false)
	Set reference current.
virtual int	setEncoderCountJoint (WORD encodercount)
	Joint encoder counts per revolution.
virtual int	setEncoderCountMotor (WORD encodercount)
	Motor encoder counts per revolution.
virtual int	setEncoderIndexLevelMotor (BYTE level)
	Set motor encoder index pulse signal level.
virtual int	setEndlessTurnMode (bool enabled, bool shouldSyncWrite=false)
	Endless turn mode ('wheel mode').
virtual int	setEndlessTurnTorque (double torqueRatio, bool shouldSyncWrite=false)
	Torque to apply in endless turn mode.
virtual int	setGearboxRatioJoint (float gearboxratiojoint)
	Ratio between joint and joint encoder.
virtual int	setGearboxRatioMotor (float gearboxratiomotor)
	Ratio between motor and joint.
virtual void	setGroup (CDxlGroup *group)
	Set group membership.
virtual int	setInitialTorqueLimit (double absMaxTorque)
	Set initial torque limit (EEPROM).
virtual int	setJointOffset (double offset)
	Set joint null angle offset.
virtual int	setLinearAcceleration (double acceleration, bool shouldSyncWrite=false)
	Set linear acceleration for trajectory generation.
virtual int	setLinearPos (double pos, bool shouldSyncWrite=false)
	Set linear reference position.
virtual int	setLinearPos (double pos, double absSpeed, bool shouldSyncWrite=false)
	Set linear reference position and velocity.
virtual int	setLinearPos (double pos, double absSpeed, double acceleration, bool shouldSyncWrite=false)
	Set linear reference position, velocity and acceleration.
virtual int	setLinearSpeed (double speed, bool shouldSyncWrite=false)
	Set linear reference speed.
virtual int	setLogInterval (BYTE interval)
	Set logging interval.
virtual int	setMaxContinuousMotorCurrent (double current)
	Set maximum motor continuous current.
virtual int	setMaxMotorCurrent (WORD maxcurrent)
	Unused.
virtual int	setMaxPeakMotorCurrent (double current)
	Set maximum motor peak current.
virtual int	setMaxUninitializedMotorCurrent (WORD maxcurrent)
	Unused.
virtual int	setMotorConstant (WORD motorconstant)
	Set motor constant.
virtual int	setMotorOffset (double offset)
	Set motor null angle offset.
virtual int	setMotorWindingTimeConstant (double time)
	Set motor winding time constant.
virtual void	setNullAngle (double nullAngle)
	Set null angle convention.
virtual int	setOperatingMode (const BYTE mode)
	Undocumented.
virtual int	setPIDCurrent (double p, double d, double i, double i_limit, bool shouldSyncWrite=false)
	Set PID for current control mode.
virtual int	setPIDEnergy (double p, double d, double i, double i_limit, bool shouldSyncWrite=false)
	Set PID for energy control mode.
virtual int	setPIDPosition (double p, double d, double i, double i_limit, bool shouldSyncWrite=false)
	Set PID for position control mode.
virtual int	setPIDSpeed (double p, double d, double i, double i_limit, bool shouldSyncWrite=false)
	Set PID for speed control mode.
virtual int	setPIDTorque (double p, double d, double i, double i_limit, bool shouldSyncWrite=false)
	Set PID for torque control mode.
virtual int	setPos (double pos, bool shouldSyncWrite=false)
	Set reference position.
virtual int	setPos (double pos, double absSpeed, bool shouldSyncWrite=false)
	Set reference position and velocity.
virtual int	setPos (double pos, double absSpeed, double acceleration, bool shouldSyncWrite=false)
	Set reference position, velocity and acceleration.
virtual void	setPositiveDirection (bool clockwiseIsPositive)
	Set direction convention.
virtual int	setPositiveDirectionJoint (bool clockwiseIsPositive)
	Set joint direction convention.
virtual int	setPositiveDirectionMotor (bool clockwiseIsPositive)
	Set motor direction convention.
virtual int	setPosSpeedTorquePPosDPos (double pos, double speed, double torque, int pPos, int dPos, bool shouldSyncWrite=false)
	Set many references simultaneously.
virtual int	setPunch (WORD punch)
	Unused.
virtual int	setPWM (double pwm, bool shouldSyncWrite=false)
	Set pulse width modulation duty cycle.
virtual int	setReferenceEnergy (double energy)
	Set reference energy for energy control.
virtual int	setRetlevel (const int returnlevel)
	Set status return level.
virtual int	setReturnDelayTime (const int microsecondsReturnDelay)
	Set return delay.
virtual void	setSerialPort (LxSerial *serialPort)
	Set serial port.
virtual int	setSineAmplitude (double amplitude, bool shouldSyncWrite=false)
	Set sine amplitude.
virtual int	setSineFrequency (double frequency, bool shouldSyncWrite=false)
	Set sine frequency.
virtual int	setSinePhase (double phase, bool shouldSyncWrite=false)
	Set sine phase angle.
virtual int	setSpeed (double speed, bool shouldSyncWrite=false)
	Set reference speed.
virtual int	setSpringStiffness (double stiffness)
	Set spring stiffness for series elastic actuation.
virtual int	setSyncReadIndex (BYTE index)
	Set index in sync read chain.
virtual int	setTemperatureLimit (const int maxTemp)
	Set temperature limit.
virtual int	setTorque (double torque, bool shouldSyncWrite=false)
	Set reference torque.
virtual int	setTorqueLimit (double absMaxTorque)
	Set operational torque limit (RAM).
virtual int	setVoltageLimits (double minVoltage, double maxVoltage)
	Set voltage limits.
virtual int	setWatchdogMode (BYTE watchdogmode)
	What to do if watchdog triggers.
virtual int	setWatchdogMultiplier (BYTE watchdogmultiplier)
	Set watchdog interval (multiplier)
virtual int	setWatchdogTime (BYTE watchdogtime)
	Set watchdog interval (time)
virtual int	setWheelDiameter (double diameter)
	Set wheel diameter.
virtual int	setZeroLengthSpring (double parameterInRad)
	Set zero length of the spring for series elastic actuation.
int	writeData (BYTE startingAddress, BYTE dataLength, BYTE *data, bool shouldSyncWrite=false)
	Write data to hardware.
virtual	~CDxlGeneric ()
Protected Attributes
int	mID
CLog2	mLog
CDxlGroup *	mpGroup
int	mRetlevel

Detailed Description

Generic interface to both CDynamixel and C3mxl.

Some of the set* functions can also be used in a SYNC_WRITE packet fashion; use CDxlGroup for that.

get*() functions cannot be used in a SYNC_WRITE packet fashion, since they return data.

Definition at line 55 of file CDxlGeneric.h.

Constructor & Destructor Documentation

CDxlGeneric::CDxlGeneric ( ) [inline]

Definition at line 64 of file CDxlGeneric.h.

virtual CDxlGeneric::~CDxlGeneric ( ) [inline, virtual]

Definition at line 70 of file CDxlGeneric.h.

Member Function Documentation

int CDxlGeneric::action ( )

Execute registered command.

Definition at line 77 of file CDxlGeneric.cpp.

virtual int CDxlGeneric::changeID ( const int newID ) [inline, virtual]

Change hardware motor ID.

Actually sets the new ID in the hardware.

Parameters:

newID New ID.

Reimplemented in C3mxl, and CDynamixel.

Definition at line 445 of file CDxlGeneric.h.

virtual int CDxlGeneric::enableLED ( int state ) [inline, virtual]

Enable LED.

Parameters:

state 0 to extinguish the LED, 1 to light it.

Reimplemented in CDynamixel.

Definition at line 449 of file CDxlGeneric.h.

virtual int CDxlGeneric::enableTorque ( int state ) [inline, virtual]

Enable torque.

Parameters:

state 0 to disable power, 1 to enable it.

Reimplemented in CDynamixel.

Definition at line 453 of file CDxlGeneric.h.

virtual int CDxlGeneric::get3MxlMode ( ) [inline, virtual]

Read behavioral mode of the 3mxl.

Reimplemented in C3mxl.

Definition at line 675 of file CDxlGeneric.h.

virtual int CDxlGeneric::getAcceleration ( ) [inline, virtual]

Read acceleration from hardware.

See also:: presentAcceleration().

Reimplemented in C3mxl.

Definition at line 661 of file CDxlGeneric.h.

virtual int CDxlGeneric::getAngleLimits ( ) [inline, virtual]

Read angle limits from hardware.

Warning:: May not be called in endless turn mode!

See also:: presentCWAngleLimit() presentCCWAngleLimit() presentAngleLowerLimit() presentAngleUpperLimit().

Reimplemented in CDynamixel.

Definition at line 633 of file CDxlGeneric.h.

virtual int CDxlGeneric::getBusVoltage ( ) [inline, virtual]

Read bus voltage from hardware.

See also:: presentBusVoltage().

Reimplemented in C3mxl.

Definition at line 641 of file CDxlGeneric.h.

virtual int CDxlGeneric::getCurrent ( ) [inline, virtual]

Read current from hardware.

See also:: presentCurrent().

Reimplemented in C3mxl.

Definition at line 649 of file CDxlGeneric.h.

virtual int CDxlGeneric::getID ( ) [pure virtual]

Get motor ID.

Warning:: Merely returns the internally cached ID of the motor and does not request it (how could it, anyway?)

Returns:: Motor ID.

Implemented in C3mxl, and CDynamixel.

virtual int CDxlGeneric::getLinearAcceleration ( ) [inline, virtual]

Read linear acceleration from hardware.

See also:: presentLinearAcceleration().

Reimplemented in C3mxl.

Definition at line 665 of file CDxlGeneric.h.

virtual int CDxlGeneric::getLinearPos ( ) [inline, virtual]

Read linear position from hardware.

See also:: presentLinearPos().

Reimplemented in C3mxl.

Definition at line 614 of file CDxlGeneric.h.

virtual int CDxlGeneric::getLog ( ) [inline, virtual]

Read logfile from hardware.

logfile from hardware to memory. Get a pointer to this array with presentLog().

Reimplemented in C3mxl.

Definition at line 672 of file CDxlGeneric.h.

virtual int CDxlGeneric::getPIDCurrent	(	double &	p,
		double &	d,
		double &	i,
		double &	i_limit
	)		`[inline, virtual]`

Get PID gains for current control mode.

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit

See also:: setPIDCurrent

Reimplemented in C3mxl.

Definition at line 268 of file CDxlGeneric.h.

virtual int CDxlGeneric::getPIDEnergy	(	double &	p,
		double &	d,
		double &	i,
		double &	i_limit
	)		`[inline, virtual]`

Get PID gains for energy control mode.

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit

See also:: setPIDTorque

Reimplemented in C3mxl.

Definition at line 356 of file CDxlGeneric.h.

virtual int CDxlGeneric::getPIDPosition	(	double &	p,
		double &	d,
		double &	i,
		double &	i_limit
	)		`[inline, virtual]`

Get PID gains for position control mode.

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit

See also:: setPIDPosition

Reimplemented in C3mxl.

Definition at line 290 of file CDxlGeneric.h.

virtual int CDxlGeneric::getPIDSpeed	(	double &	p,
		double &	d,
		double &	i,
		double &	i_limit
	)		`[inline, virtual]`

Get PID gains for speed control mode.

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit

See also:: setPIDSpeed

Reimplemented in C3mxl.

Definition at line 312 of file CDxlGeneric.h.

virtual int CDxlGeneric::getPIDTorque	(	double &	p,
		double &	d,
		double &	i,
		double &	i_limit
	)		`[inline, virtual]`

Get PID gains for torque control mode.

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit

See also:: setPIDTorque

Reimplemented in C3mxl.

Definition at line 334 of file CDxlGeneric.h.

virtual int CDxlGeneric::getPos ( ) [inline, virtual]

Read position from hardware.

See also:: presentPos().

Reimplemented in C3mxl, and CDynamixel.

Definition at line 610 of file CDxlGeneric.h.

virtual int CDxlGeneric::getPosAndSpeed ( ) [inline, virtual]

Read position and speed from hardware.

See also:: presentPos(), presentSpeed().

Reimplemented in C3mxl, and CDynamixel.

Definition at line 618 of file CDxlGeneric.h.

virtual int CDxlGeneric::getSensorVoltages ( ) [inline, virtual]

Read analog sensor voltages from hardware.

See also:: presentBusVoltage() presentCurrentADCVoltage() presentAnalog1Voltage() presentAnalog2Voltage().

Reimplemented in C3mxl.

Definition at line 645 of file CDxlGeneric.h.

virtual int CDxlGeneric::getState ( ) [inline, virtual]

Read entire state from hardware.

See also:: presentPos(), presentSpeed(), presentLoad(), presentVoltage(), presentTemp().

Reimplemented in C3mxl, and CDynamixel.

Definition at line 626 of file CDxlGeneric.h.

virtual int CDxlGeneric::getStatus ( ) [inline, virtual]

Read status from hardware.

Reimplemented in C3mxl.

Definition at line 668 of file CDxlGeneric.h.

virtual int CDxlGeneric::getTemp ( ) [inline, virtual]

Read temperature from hardware.

See also:: presentTemp().

Reimplemented in CDynamixel.

Definition at line 622 of file CDxlGeneric.h.

virtual int CDxlGeneric::getTorque ( ) [inline, virtual]

Read torque from hardware.

See also:: presentTorque().

Reimplemented in C3mxl.

Definition at line 653 of file CDxlGeneric.h.

virtual int CDxlGeneric::getTorquePosSpeed ( ) [inline, virtual]

Read torque, position and speed from hardware.

See also:: presentTorque() presentPos() presentSpeed().

Reimplemented in C3mxl.

Definition at line 657 of file CDxlGeneric.h.

virtual int CDxlGeneric::getVoltage ( ) [inline, virtual]

Read motor voltage from hardware.

See also:: presentVoltage().

Reimplemented in C3mxl.

Definition at line 637 of file CDxlGeneric.h.

virtual int CDxlGeneric::init ( bool sendConfigToMotor = true ) [inline, virtual]

Initialize this Dynamixel.

Warning:: Make sure you call setConfig() before calling init()!

Parameters:

sendConfigToMotor Send configuration to motor

Reimplemented in C3mxl, and CDynamixel.

Definition at line 129 of file CDxlGeneric.h.

virtual int CDxlGeneric::interpretControlData	(	BYTE	address,
		BYTE	length,
		BYTE *	data
	)		`[inline, virtual]`

Interpret data read from control table.

Parameters:

address	starting address.
length	number of bytes read.
data	control data.

Reimplemented in C3mxl.

Definition at line 794 of file CDxlGeneric.h.

int CDxlGeneric::ping ( )

Check for motor presence.

Returns:: DXL_SUCCESS on success, error otherwise.

Definition at line 56 of file CDxlGeneric.cpp.

virtual BYTE CDxlGeneric::present3MxlMode ( ) [inline, virtual]

Get behavioral mode of the 3mxl.

See also:: 3mxl control modes for address M3XL_CONTROL_MODE.

Reimplemented in C3mxl.

Definition at line 780 of file CDxlGeneric.h.

virtual double CDxlGeneric::presentAcceleration ( ) [pure virtual]

Get cached acceleration.

Returns:: Acceleration in [rad/s^2].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentAnalog1Voltage ( ) [pure virtual]

Get cached analog sensor 1 voltage.

Returns:: Sensor voltage in [V].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentAnalog2Voltage ( ) [pure virtual]

Get cached analog sensor 2 voltage.

Returns:: Sensor voltage in [V].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentAnalog3Voltage ( ) [pure virtual]

Get cached analog sensor 3 voltage.

Returns:: Sensor voltage in [V].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentAnalog4Voltage ( ) [pure virtual]

Get cached analog sensor 4 voltage.

Returns:: Sensor voltage in [V].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentAngleLowerLimit ( ) [pure virtual]

Get cached lower angle limit.

Returns:: Lower angle limit in [rad].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentAngleUpperLimit ( ) [pure virtual]

Get cached upper angle limit.

Returns:: Upper angle limit in [rad].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentBusVoltage ( ) [pure virtual]

Get cached bus voltage.

Returns:: Bus voltage in [V].

Implemented in C3mxl, and CDynamixel.

virtual WORD CDxlGeneric::presentCCWAngleLimit ( ) [pure virtual]

Get cached counter-clockwise angle limit.

Warning:: Ignores the motor's null-angle and direction.

Returns:: Raw counter-clockwise angle limit limit.

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentCurrent ( ) [pure virtual]

Get cached current.

Returns:: Current in [A].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentCurrentADCVoltage ( ) [pure virtual]

Get cached motor current ADC voltage.

Returns:: ADC voltage in [V].

Implemented in C3mxl, and CDynamixel.

virtual WORD CDxlGeneric::presentCWAngleLimit ( ) [pure virtual]

Get cached clockwise angle limit.

Warning:: Ignores the motor's null-angle and direction.

Returns:: Raw clockwise angle limit limit.

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentLinearAcceleration ( ) [pure virtual]

Get cached linear acceleration.

Returns:: Acceleration in [m/s^2].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentLinearPos ( ) [pure virtual]

Get cached linear position.

Returns:: Position in [m].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentLoad ( ) [pure virtual]

Get cached load value.

Returns:: Load in [Nm].

Implemented in C3mxl, and CDynamixel.

virtual TMxlLog CDxlGeneric::presentLog ( ) [inline, virtual]

Get cached log string/file.

Returns:: a vector of log entries.

Reimplemented in C3mxl.

Definition at line 776 of file CDxlGeneric.h.

virtual bool CDxlGeneric::presentMotorInitState ( ) [inline, virtual]

Get motor initialization state.

Returns:: Whether the motor executed the initialization procedure.

Reimplemented in C3mxl.

Definition at line 750 of file CDxlGeneric.h.

virtual double CDxlGeneric::presentPos ( ) [pure virtual]

Get cached position.

Returns:: Position in [rad].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentSpeed ( ) [pure virtual]

Get cached speed.

Returns:: Speed in [rad/s].

Implemented in C3mxl, and CDynamixel.

virtual int CDxlGeneric::presentStatus ( ) [inline, virtual]

Get cached status.

Returns:: Status.

See also:: 3mxl status codes for address M3XL_STATUS.

Reimplemented in C3mxl.

Definition at line 746 of file CDxlGeneric.h.

virtual double CDxlGeneric::presentTemp ( ) [pure virtual]

Get cached temperature.

Returns:: Temperature in [deg. C].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentTorque ( ) [pure virtual]

Get cached torque.

Returns:: Torque in [Nm].

Implemented in C3mxl, and CDynamixel.

virtual double CDxlGeneric::presentVoltage ( ) [pure virtual]

Get cached motor voltage.

Returns:: Motor voltage in [V].

Implemented in C3mxl, and CDynamixel.

virtual int CDxlGeneric::printReport ( FILE * fOut ) [inline, virtual]

Report on this Dynamixel.

Reads out the motor's complete control table.

Parameters:

fOut	Output file.

Reimplemented in C3mxl, and CDynamixel.

Definition at line 786 of file CDxlGeneric.h.

int CDxlGeneric::readData	(	BYTE	startingAddress,
		BYTE	dataLength,
		BYTE *	data
	)

Read data from hardware.

Parameters:

startingAddress	Starting address in control table.
dataLength	Bytes to write.
data	Buffer of `dataLength` bytes.

Definition at line 3 of file CDxlGeneric.cpp.

int CDxlGeneric::reset ( )

Reset control table.

Definition at line 85 of file CDxlGeneric.cpp.

virtual int CDxlGeneric::set3MxlMode	(	BYTE	mxlMode,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set behaviour of the 3mxl.

Warning:: Stops the motor.

Parameters:

mxlMode	Control mode.
shouldSyncWrite	Accumulate data instead of sending immediately.

See also:: 3mxl control modes for address M3XL_CONTROL_MODE.

Reimplemented in C3mxl.

Definition at line 478 of file CDxlGeneric.h.

virtual int CDxlGeneric::setAcceleration	(	double	acceleration,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set acceleration for trajectory generation.

Parameters:

acceleration	Acceleration in [rad/s^2].
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 207 of file CDxlGeneric.h.

virtual int CDxlGeneric::setAlarmLEDMask ( const BYTE mask ) [inline, virtual]

Set which conditions cause the alarm LED to blink.

mask Condition mask. See Dynamixel documentation.

Reimplemented in CDynamixel.

Definition at line 431 of file CDxlGeneric.h.

virtual int CDxlGeneric::setAlarmShutdownMask ( const BYTE mask ) [inline, virtual]

Set which conditions trigger a shutdown.

mask Condition mask. See Dynamixel documentation.

Reimplemented in CDynamixel.

Definition at line 439 of file CDxlGeneric.h.

virtual int CDxlGeneric::setAngleLimits	(	double	lowerLimit,
		double	upperLimit
	)		`[inline, virtual]`

Set angle limits.

Parameters:

lowerLimit	Lower angle limit in [rad].
upperLimit	Upper angle limit in [rad].

Reimplemented in C3mxl, and CDynamixel.

Definition at line 392 of file CDxlGeneric.h.

virtual int CDxlGeneric::setAngleLowerLimit ( double limit ) [inline, virtual]

Set lower angle limit.

Parameters:

limit Lower angle limit in [rad].

Reimplemented in C3mxl, and CDynamixel.

Definition at line 409 of file CDxlGeneric.h.

virtual int CDxlGeneric::setAngleUpperLimit ( double limit ) [inline, virtual]

Set upper angle limit.

Parameters:

limit Upper angle limit in [rad].

Reimplemented in C3mxl, and CDynamixel.

Definition at line 415 of file CDxlGeneric.h.

virtual int CDxlGeneric::setBaudRate ( const int baudRate ) [inline, virtual]

Set baud rate in bits/s.

Parameters:

baudRate Baudrate in [bit/s].

Reimplemented in C3mxl, and CDynamixel.

Definition at line 368 of file CDxlGeneric.h.

virtual int CDxlGeneric::setBaudRateIndex ( const BYTE baudRateIndex ) [inline, virtual]

Set baud rate in Dynamixel units.

Parameters:

baudRateIndex Baudrate in Dynamixel BPS unit. [bits/s] = 2000000/(baudRateIndex+1).

Reimplemented in CDynamixel.

Definition at line 364 of file CDxlGeneric.h.

virtual int CDxlGeneric::setCompliance	(	BYTE	complianceMargin,
		BYTE	complianceSlope
	)		`[inline, virtual]`

Set control flexibility.

Warning:: Uses Dynamixel internal units.

Parameters:

complianceMargin	Maximum error between goal position and present position in Dynamixel units.
complianceSlope	Level of Torque near the goal position. Used value = `2^complianceSlope`.

Reimplemented in CDynamixel.

Definition at line 423 of file CDxlGeneric.h.

virtual void CDxlGeneric::setConfig ( CDxlConfig * config ) [inline, virtual]

Set motor configuration.

The configuration is written to the motor during init().

Warning:: After init(), the fields of mConfig are not guaranteed to be up to date anymore!

Reimplemented in C3mxl, and CDynamixel.

Definition at line 118 of file CDxlGeneric.h.

virtual int CDxlGeneric::setCurrent	(	double	current,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set reference current.

Parameters:

current	Current in [A]
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 228 of file CDxlGeneric.h.

virtual int CDxlGeneric::setEncoderCountJoint ( WORD encodercount ) [inline, virtual]

Joint encoder counts per revolution.

Parameters:

encodercount Counts per revolution

Reimplemented in C3mxl.

Definition at line 502 of file CDxlGeneric.h.

virtual int CDxlGeneric::setEncoderCountMotor ( WORD encodercount ) [inline, virtual]

Motor encoder counts per revolution.

Parameters:

encodercount Counts per revolution

Reimplemented in C3mxl.

Definition at line 498 of file CDxlGeneric.h.

virtual int CDxlGeneric::setEncoderIndexLevelMotor ( BYTE level ) [inline, virtual]

Set motor encoder index pulse signal level.

Parameters:

level Low (0) or high (1) index pulse signal.

Reimplemented in C3mxl.

Definition at line 522 of file CDxlGeneric.h.

virtual int CDxlGeneric::setEndlessTurnMode	(	bool	enabled,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Endless turn mode ('wheel mode').

Calling setEndlessTurnMode(false) will restore angle limits.

Warning:: In this mode, there is no speed control! For safety, before enabling this mode, set the endlessTurnTorque() to zero first to avoid unwanted movements!

Parameters:

enabled	State.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in CDynamixel.

Definition at line 462 of file CDxlGeneric.h.

virtual int CDxlGeneric::setEndlessTurnTorque	(	double	torqueRatio,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Torque to apply in endless turn mode.

Parameters:

torqueRatio	Torque as fraction of maximum possible torque.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in CDynamixel.

Definition at line 469 of file CDxlGeneric.h.

virtual int CDxlGeneric::setGearboxRatioJoint ( float gearboxratiojoint ) [inline, virtual]

Ratio between joint and joint encoder.

Parameters:

gearboxratiojoint turns of encoder for one joint revolution.

Reimplemented in C3mxl.

Definition at line 534 of file CDxlGeneric.h.

virtual int CDxlGeneric::setGearboxRatioMotor ( float gearboxratiomotor ) [inline, virtual]

Ratio between motor and joint.

Parameters:

gearboxratiomotor turns of motor for one joint revolution.

Reimplemented in C3mxl.

Definition at line 530 of file CDxlGeneric.h.

virtual void CDxlGeneric::setGroup ( CDxlGroup * group ) [inline, virtual]

Set group membership.

Warning:: Don't set this manually. Use CDxlGroup::addNewDynamixel.

Parameters:

group Group to set membership to.

Definition at line 111 of file CDxlGeneric.h.

virtual int CDxlGeneric::setInitialTorqueLimit ( double absMaxTorque ) [inline, virtual]

Set initial torque limit (EEPROM).

This value is copied to ram during power-on.

Parameters:

absMaxTorque Torque limi as fraction of maximum possible torque.

Reimplemented in C3mxl, and CDynamixel.

Definition at line 381 of file CDxlGeneric.h.

virtual int CDxlGeneric::setJointOffset ( double offset ) [inline, virtual]

Set joint null angle offset.

Parameters:

offset Offset in [rad].

Reimplemented in C3mxl.

Definition at line 494 of file CDxlGeneric.h.

virtual int CDxlGeneric::setLinearAcceleration	(	double	acceleration,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set linear acceleration for trajectory generation.

Parameters:

acceleration	Acceleration in [m/s^2].
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 214 of file CDxlGeneric.h.

virtual int CDxlGeneric::setLinearPos	(	double	pos,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set linear reference position.

Parameters:

pos	Position in [m]
absSpeed	Speed in [m/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 169 of file CDxlGeneric.h.

virtual int CDxlGeneric::setLinearPos	(	double	pos,
		double	absSpeed,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set linear reference position and velocity.

Parameters:

pos	Position in [m]
absSpeed	Speed in [m/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 177 of file CDxlGeneric.h.

virtual int CDxlGeneric::setLinearPos	(	double	pos,
		double	absSpeed,
		double	acceleration,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set linear reference position, velocity and acceleration.

Parameters:

pos	Position in [m]
absSpeed	Speed in [m/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
acceleration	Acceleration in [m/s^2].
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 186 of file CDxlGeneric.h.

virtual int CDxlGeneric::setLinearSpeed	(	double	speed,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set linear reference speed.

Parameters:

speed	Speed in [m/s]. Speed can be positive or negative.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 200 of file CDxlGeneric.h.

virtual int CDxlGeneric::setLogInterval ( BYTE interval ) [inline, virtual]

Set logging interval.

Note:: Call this to make sure you're logging for the right motor.

Parameters:

interval logging interval in [ms].

Reimplemented in C3mxl.

Definition at line 599 of file CDxlGeneric.h.

virtual int CDxlGeneric::setMaxContinuousMotorCurrent ( double current ) [inline, virtual]

Set maximum motor continuous current.

Parameters:

current Maxmimum continuous current in [A].

Reimplemented in C3mxl.

Definition at line 514 of file CDxlGeneric.h.

virtual int CDxlGeneric::setMaxMotorCurrent ( WORD maxcurrent ) [inline, virtual]

Unused.

Parameters:

maxcurrent Unused

Definition at line 554 of file CDxlGeneric.h.

virtual int CDxlGeneric::setMaxPeakMotorCurrent ( double current ) [inline, virtual]

Set maximum motor peak current.

Parameters:

current Maxmimum peak current in [A].

Reimplemented in C3mxl.

Definition at line 510 of file CDxlGeneric.h.

virtual int CDxlGeneric::setMaxUninitializedMotorCurrent ( WORD maxcurrent ) [inline, virtual]

Unused.

Parameters:

maxcurrent Unused

Definition at line 550 of file CDxlGeneric.h.

virtual int CDxlGeneric::setMotorConstant ( WORD motorconstant ) [inline, virtual]

Set motor constant.

Parameters:

motorconstant Motor constant in [10^-4 Nm/A].

Reimplemented in C3mxl.

Definition at line 506 of file CDxlGeneric.h.

virtual int CDxlGeneric::setMotorOffset ( double offset ) [inline, virtual]

Set motor null angle offset.

Parameters:

offset Offset in [rad].

Reimplemented in C3mxl.

Definition at line 490 of file CDxlGeneric.h.

virtual int CDxlGeneric::setMotorWindingTimeConstant ( double time ) [inline, virtual]

Set motor winding time constant.

Parameters:

time	Motor winding temperature time constant in [s].

Reimplemented in C3mxl.

Definition at line 518 of file CDxlGeneric.h.

virtual void CDxlGeneric::setNullAngle ( double nullAngle ) [inline, virtual]

Set null angle convention.

Parameters:

nullAngle Null angle in [rad]

Reimplemented in CDynamixel.

Definition at line 137 of file CDxlGeneric.h.

virtual int CDxlGeneric::setOperatingMode ( const BYTE mode ) [inline, virtual]

Undocumented.

mode Undocumented.

Reimplemented in CDynamixel.

Definition at line 435 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPIDCurrent	(	double	p,
		double	d,
		double	i,
		double	i_limit,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set PID for current control mode.

The error is in SI units ([A]), and the output range of the control equation is [-1, 1].

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 258 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPIDEnergy	(	double	p,
		double	d,
		double	i,
		double	i_limit,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set PID for energy control mode.

The error is in SI units ([J]), and the output range of the control equation is [-1, 1].

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 346 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPIDPosition	(	double	p,
		double	d,
		double	i,
		double	i_limit,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set PID for position control mode.

The error is in SI units ([rad]), and the output range of the control equation is [-1, 1].

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 280 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPIDSpeed	(	double	p,
		double	d,
		double	i,
		double	i_limit,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set PID for speed control mode.

The error is in SI units ([rad/s]), and the output range of the control equation is [-1, 1].

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 302 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPIDTorque	(	double	p,
		double	d,
		double	i,
		double	i_limit,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set PID for torque control mode.

The error is in SI units ([Nm]), and the output range of the control equation is [-1, 1].

Parameters:

p	Proportional gain
d	Derivative gain
i	Integral gain
i_limit	Integration limit
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 324 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPos	(	double	pos,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set reference position.

Parameters:

pos	Position in [rad]
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 144 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPos	(	double	pos,
		double	absSpeed,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set reference position and velocity.

Parameters:

pos	Position in [rad]
absSpeed	Speed in [rad/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl, and CDynamixel.

Definition at line 152 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPos	(	double	pos,
		double	absSpeed,
		double	acceleration,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set reference position, velocity and acceleration.

Parameters:

pos	Position in [rad]
absSpeed	Speed in [rad/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
acceleration	Acceleration in [rad/s^2].
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 161 of file CDxlGeneric.h.

virtual void CDxlGeneric::setPositiveDirection ( bool clockwiseIsPositive ) [inline, virtual]

Set direction convention.

Parameters:

clockwiseIsPositive True if clockwise direction is positive

Reimplemented in C3mxl, and CDynamixel.

Definition at line 133 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPositiveDirectionJoint ( bool clockwiseIsPositive ) [inline, virtual]

Set joint direction convention.

Parameters:

clockwiseIsPositive True if clockwise direction is positive

Reimplemented in C3mxl.

Definition at line 486 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPositiveDirectionMotor ( bool clockwiseIsPositive ) [inline, virtual]

Set motor direction convention.

Parameters:

clockwiseIsPositive True if clockwise direction is positive

Reimplemented in C3mxl.

Definition at line 482 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPosSpeedTorquePPosDPos	(	double	pos,
		double	speed,
		double	torque,
		int	pPos,
		int	dPos,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set many references simultaneously.

Parameters:

pos	Position in [rad]
speed	Speed in [rad/s]
torque	Torque in [Nm]
pPos	Position controller P gain
dPos	Position controller D gain
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 246 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPunch ( WORD punch ) [inline, virtual]

Unused.

Parameters:

punch Unused.

Reimplemented in CDynamixel.

Definition at line 427 of file CDxlGeneric.h.

virtual int CDxlGeneric::setPWM	(	double	pwm,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set pulse width modulation duty cycle.

Parameters:

pwm	PWM duty cycle, between -1 and 1.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 235 of file CDxlGeneric.h.

virtual int CDxlGeneric::setReferenceEnergy ( double energy ) [inline, virtual]

Set reference energy for energy control.

Parameters:

energy Reference energy in [J]

Reimplemented in C3mxl.

Definition at line 566 of file CDxlGeneric.h.

virtual int CDxlGeneric::setRetlevel ( const int returnlevel ) [inline, virtual]

Set status return level.

Parameters:

returnlevel

Return status packet on

0 PING
1 PING+READ
2 all commands

Reimplemented in C3mxl, and CDynamixel.

Definition at line 360 of file CDxlGeneric.h.

virtual int CDxlGeneric::setReturnDelayTime ( const int microsecondsReturnDelay ) [inline, virtual]

Set return delay.

Delay between transmission of Instruction Packet until the return of Status Packet.

Parameters:

microsecondsReturnDelay Return delay in [us].

Reimplemented in C3mxl, and CDynamixel.

Definition at line 374 of file CDxlGeneric.h.

virtual void CDxlGeneric::setSerialPort ( LxSerial * serialPort ) [inline, virtual]

Set serial port.

serialPort Serial port.

Reimplemented in C3mxl, and CDynamixel.

Definition at line 122 of file CDxlGeneric.h.

virtual int CDxlGeneric::setSineAmplitude	(	double	amplitude,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set sine amplitude.

Warning:: Does not start the motor. Use setSineFrequency for that.

Parameters:

amplitude	Amplitude in [rad]
shouldSyncWrite	Accumulate data instead of sending immediately.

See also:: setSineFrequency

Reimplemented in C3mxl.

Definition at line 583 of file CDxlGeneric.h.

virtual int CDxlGeneric::setSineFrequency	(	double	frequency,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set sine frequency.

Note:: Starts the motor.

Parameters:

frequency	Frequency in [Hz]
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 574 of file CDxlGeneric.h.

virtual int CDxlGeneric::setSinePhase	(	double	phase,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set sine phase angle.

Warning:: Does not start the motor. Use setSineFrequency for that.

Parameters:

phase	Phase in [rad]
shouldSyncWrite	Accumulate data instead of sending immediately.

See also:: setSineFrequency

Reimplemented in C3mxl.

Definition at line 592 of file CDxlGeneric.h.

virtual int CDxlGeneric::setSpeed	(	double	speed,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set reference speed.

Parameters:

speed	Speed in [rad/s]. Speed can be positive or negative.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl, and CDynamixel.

Definition at line 193 of file CDxlGeneric.h.

virtual int CDxlGeneric::setSpringStiffness ( double stiffness ) [inline, virtual]

Set spring stiffness for series elastic actuation.

Parameters:

stiffness Spring stiffness in [Nm/rad]

Reimplemented in C3mxl.

Definition at line 562 of file CDxlGeneric.h.

virtual int CDxlGeneric::setSyncReadIndex ( BYTE index ) [inline, virtual]

Set index in sync read chain.

Note:: Normally called by CDxlGroup.

Parameters:

index index. 0 means this motor does not participate in the chain.

Reimplemented in C3mxl.

Definition at line 606 of file CDxlGeneric.h.

virtual int CDxlGeneric::setTemperatureLimit ( const int maxTemp ) [inline, virtual]

Set temperature limit.

Parameters:

maxTemp Maximum temperature in [deg. C].

Reimplemented in CDynamixel.

Definition at line 403 of file CDxlGeneric.h.

virtual int CDxlGeneric::setTorque	(	double	torque,
		bool	shouldSyncWrite = `false`
	)		`[inline, virtual]`

Set reference torque.

Parameters:

torque	Torque in [Nm]
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented in C3mxl.

Definition at line 221 of file CDxlGeneric.h.

virtual int CDxlGeneric::setTorqueLimit ( double absMaxTorque ) [inline, virtual]

Set operational torque limit (RAM).

Parameters:

absMaxTorque Torque limit as fraction of maximum possible torque.

Reimplemented in C3mxl, and CDynamixel.

Definition at line 385 of file CDxlGeneric.h.

virtual int CDxlGeneric::setVoltageLimits	(	double	minVoltage,
		double	maxVoltage
	)		`[inline, virtual]`

Set voltage limits.

Parameters:

minVoltage	Minimum voltage in [V].
maxVoltage	Maximum voltage in [V].

Reimplemented in CDynamixel.

Definition at line 399 of file CDxlGeneric.h.

virtual int CDxlGeneric::setWatchdogMode ( BYTE watchdogmode ) [inline, virtual]

What to do if watchdog triggers.

Parameters:

watchdogmode Unused

Reimplemented in C3mxl.

Definition at line 538 of file CDxlGeneric.h.

virtual int CDxlGeneric::setWatchdogMultiplier ( BYTE watchdogmultiplier ) [inline, virtual]

Set watchdog interval (multiplier)

Parameters:

watchdogmultiplier Watchdog interval = time * multiplier.

Reimplemented in C3mxl.

Definition at line 546 of file CDxlGeneric.h.

virtual int CDxlGeneric::setWatchdogTime ( BYTE watchdogtime ) [inline, virtual]

Set watchdog interval (time)

Parameters:

watchdogtime Watchdog interval = time * multiplier.

Reimplemented in C3mxl.

Definition at line 542 of file CDxlGeneric.h.

virtual int CDxlGeneric::setWheelDiameter ( double diameter ) [inline, virtual]

Set wheel diameter.

Parameters:

diameter Wheel diameter in [m].

Reimplemented in C3mxl.

Definition at line 526 of file CDxlGeneric.h.

virtual int CDxlGeneric::setZeroLengthSpring ( double parameterInRad ) [inline, virtual]

Set zero length of the spring for series elastic actuation.

Parameters:

parameterInRad Zero length in [rad].

Reimplemented in C3mxl.

Definition at line 558 of file CDxlGeneric.h.

int CDxlGeneric::writeData	(	BYTE	startingAddress,
		BYTE	dataLength,
		BYTE *	data,
		bool	shouldSyncWrite = `false`
	)

Write data to hardware.

Parameters:

startingAddress	Starting address in control table.
dataLength	Bytes to write.
data	Buffer of `dataLength` bytes.
shouldSyncWrite	Accumulate data instead of sending immediately.

Here we have syncWriteLocation as the position to place the data that otherwise would be send directly to the dynamixel

Definition at line 96 of file CDxlGeneric.cpp.