bulk_read_write_node.cpp File Reference

#include <ros/ros.h>
#include "std_msgs/String.h"
#include "dynamixel_sdk_examples/BulkGetItem.h"
#include "dynamixel_sdk_examples/BulkSetItem.h"
#include "dynamixel_sdk/dynamixel_sdk.h"

Include dependency graph for bulk_read_write_node.cpp:

Go to the source code of this file.

Macros
#define	ADDR_GOAL_POSITION   116
#define	ADDR_PRESENT_LED   65
#define	ADDR_PRESENT_POSITION   132
#define	ADDR_TORQUE_ENABLE   64
#define	BAUDRATE   57600
#define	DEVICE_NAME   "/dev/ttyUSB0"
#define	DXL1_ID   1
#define	DXL2_ID   2
#define	PROTOCOL_VERSION   2.0

Functions
bool	bulkGetItemCallback (dynamixel_sdk_examples::BulkGetItem::Request &req, dynamixel_sdk_examples::BulkGetItem::Response &res)
void	bulkSetItemCallback (const dynamixel_sdk_examples::BulkSetItem::ConstPtr &msg)
int	main (int argc, char **argv)

Variables
GroupBulkRead	groupBulkRead (portHandler, packetHandler)
GroupBulkWrite	groupBulkWrite (portHandler, packetHandler)
PacketHandler *	packetHandler = PacketHandler::getPacketHandler(PROTOCOL_VERSION)
PortHandler *	portHandler = PortHandler::getPortHandler(DEVICE_NAME)

Macro Definition Documentation

#define ADDR_GOAL_POSITION   116

Definition at line 47 of file bulk_read_write_node.cpp.

#define ADDR_PRESENT_LED   65

Definition at line 45 of file bulk_read_write_node.cpp.

#define ADDR_PRESENT_POSITION   132

Definition at line 46 of file bulk_read_write_node.cpp.

#define ADDR_TORQUE_ENABLE   64

Definition at line 44 of file bulk_read_write_node.cpp.

#define BAUDRATE   57600

Definition at line 55 of file bulk_read_write_node.cpp.

#define DEVICE_NAME   "/dev/ttyUSB0"

Definition at line 56 of file bulk_read_write_node.cpp.

#define DXL1_ID   1

Definition at line 53 of file bulk_read_write_node.cpp.

#define DXL2_ID   2

Definition at line 54 of file bulk_read_write_node.cpp.

#define PROTOCOL_VERSION   2.0

Definition at line 50 of file bulk_read_write_node.cpp.

Function Documentation

bool bulkGetItemCallback	(	dynamixel_sdk_examples::BulkGetItem::Request &	req,
		dynamixel_sdk_examples::BulkGetItem::Response &	res
	)

Definition at line 64 of file bulk_read_write_node.cpp.

void bulkSetItemCallback

(

const dynamixel_sdk_examples::BulkSetItem::ConstPtr &

msg

)

Definition at line 127 of file bulk_read_write_node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 201 of file bulk_read_write_node.cpp.

Variable Documentation

GroupBulkRead groupBulkRead(portHandler, packetHandler)

GroupBulkWrite groupBulkWrite(portHandler, packetHandler)

PacketHandler* packetHandler = PacketHandler::getPacketHandler(PROTOCOL_VERSION)

Definition at line 59 of file bulk_read_write_node.cpp.

PortHandler* portHandler = PortHandler::getPortHandler(DEVICE_NAME)

Definition at line 58 of file bulk_read_write_node.cpp.