indirect_address_node.cpp File Reference

#include <ros/ros.h>
#include "std_msgs/String.h"
#include "dynamixel_sdk_examples/SyncGetPosition.h"
#include "dynamixel_sdk_examples/SyncSetPosition.h"
#include "dynamixel_sdk/dynamixel_sdk.h"

Include dependency graph for indirect_address_node.cpp:

Go to the source code of this file.

Macros
#define	ADDR_GOAL_POSITION   116
#define	ADDR_INDIRECT_ADDR1   168
#define	ADDR_INDIRECT_ADDR5   176
#define	ADDR_INDIRECT_DATA1   224
#define	ADDR_INDIRECT_DATA5   228
#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
int	main (int argc, char **argv)
bool	syncGetPresentPositionCallback (dynamixel_sdk_examples::SyncGetPosition::Request &req, dynamixel_sdk_examples::SyncGetPosition::Response &res)
void	syncSetPositionCallback (const dynamixel_sdk_examples::SyncSetPosition::ConstPtr &msg)

Variables
GroupSyncRead	groupSyncRead (portHandler, packetHandler, ADDR_INDIRECT_DATA1, 4)
GroupSyncWrite	groupSyncWrite (portHandler, packetHandler, ADDR_INDIRECT_DATA5, 4)
PacketHandler *	packetHandler = PacketHandler::getPacketHandler(PROTOCOL_VERSION)
PortHandler *	portHandler = PortHandler::getPortHandler(DEVICE_NAME)

Macro Definition Documentation

#define ADDR_GOAL_POSITION   116

Definition at line 46 of file indirect_address_node.cpp.

#define ADDR_INDIRECT_ADDR1   168

Definition at line 47 of file indirect_address_node.cpp.

#define ADDR_INDIRECT_ADDR5   176

Definition at line 48 of file indirect_address_node.cpp.

#define ADDR_INDIRECT_DATA1   224

Definition at line 49 of file indirect_address_node.cpp.

#define ADDR_INDIRECT_DATA5   228

Definition at line 50 of file indirect_address_node.cpp.

#define ADDR_PRESENT_POSITION   132

Definition at line 45 of file indirect_address_node.cpp.

#define ADDR_TORQUE_ENABLE   64

Definition at line 44 of file indirect_address_node.cpp.

#define BAUDRATE   57600

Definition at line 58 of file indirect_address_node.cpp.

#define DEVICE_NAME   "/dev/ttyUSB0"

Definition at line 59 of file indirect_address_node.cpp.

#define DXL1_ID   1

Definition at line 56 of file indirect_address_node.cpp.

#define DXL2_ID   2

Definition at line 57 of file indirect_address_node.cpp.

#define PROTOCOL_VERSION   2.0

Definition at line 53 of file indirect_address_node.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 153 of file indirect_address_node.cpp.

bool syncGetPresentPositionCallback	(	dynamixel_sdk_examples::SyncGetPosition::Request &	req,
		dynamixel_sdk_examples::SyncGetPosition::Response &	res
	)

Definition at line 67 of file indirect_address_node.cpp.

void syncSetPositionCallback

(

const dynamixel_sdk_examples::SyncSetPosition::ConstPtr &

msg

)

Definition at line 110 of file indirect_address_node.cpp.

Variable Documentation

GroupSyncRead groupSyncRead(portHandler, packetHandler, ADDR_INDIRECT_DATA1, 4)

GroupSyncWrite groupSyncWrite(portHandler, packetHandler, ADDR_INDIRECT_DATA5, 4)

PacketHandler* packetHandler = PacketHandler::getPacketHandler(PROTOCOL_VERSION)

Definition at line 62 of file indirect_address_node.cpp.

PortHandler* portHandler = PortHandler::getPortHandler(DEVICE_NAME)

Definition at line 61 of file indirect_address_node.cpp.