22 #if defined(__OPENCR__) 33 #define SYNC_WRITE_HANDLER 0 34 #define SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT 0 39 #define ADDR_PRESENT_CURRENT_2 126 40 #define ADDR_PRESENT_VELOCITY_2 128 41 #define ADDR_PRESENT_POSITION_2 132 42 #define ADDR_VELOCITY_TRAJECTORY_2 136 43 #define ADDR_POSITION_TRAJECTORY_2 140 44 #define ADDR_PROFILE_ACCELERATION_2 108 45 #define ADDR_PROFILE_VELOCITY_2 112 46 #define ADDR_GOAL_POSITION_2 116 49 #define LENGTH_PRESENT_CURRENT_2 2 50 #define LENGTH_PRESENT_VELOCITY_2 4 51 #define LENGTH_PRESENT_POSITION_2 4 52 #define LENGTH_VELOCITY_TRAJECTORY_2 4 53 #define LENGTH_POSITION_TRAJECTORY_2 4 54 #define LENGTH_PROFILE_ACCELERATION_2 4 55 #define LENGTH_PROFILE_VELOCITY_2 4 56 #define LENGTH_GOAL_POSITION_2 4 60 #define ADDR_PRESENT_CURRENT_1 = 40; 61 #define ADDR_PRESENT_VELOCITY_1 = 38; 62 #define ADDR_PRESENT_POSITION_1 = 36; 64 #define LENGTH_PRESENT_CURRENT_1 = 2; 65 #define LENGTH_PRESENT_VELOCITY_1 = 2; 66 #define LENGTH_PRESENT_POSITION_1 = 2; 70 std::vector<uint8_t>
id;
88 virtual void init(std::vector<uint8_t> actuator_id,
const void *arg);
89 virtual void setMode(std::vector<uint8_t> actuator_id,
const void *arg);
90 virtual std::vector<uint8_t>
getId();
95 virtual bool sendJointActuatorValue(std::vector<uint8_t> actuator_id, std::vector<robotis_manipulator::ActuatorValue> value_vector);
106 bool writeGoalPosition(std::vector<uint8_t> actuator_id, std::vector<double> radian_vector);
126 virtual void init(std::vector<uint8_t> actuator_id,
const void *arg);
127 virtual void setMode(std::vector<uint8_t> actuator_id,
const void *arg);
128 virtual std::vector<uint8_t>
getId();
133 virtual bool sendJointActuatorValue(std::vector<uint8_t> actuator_id, std::vector<robotis_manipulator::ActuatorValue> value_vector);
144 bool writeGoalProfilingControlValue(std::vector<uint8_t> actuator_id, std::vector<robotis_manipulator::ActuatorValue> value_vector);
162 virtual void init(uint8_t actuator_id,
const void *arg);
163 virtual void setMode(
const void *arg);
164 virtual uint8_t
getId();
181 double receiveDynamixelValue();
185 #endif // DYNAMIXEL_H_ bool writeGoalPosition(std::vector< uint8_t > actuator_id, std::vector< double > radian_vector)
DynamixelWorkbench * dynamixel_workbench_
DynamixelWorkbench * dynamixel_workbench_
bool initialize(std::vector< uint8_t > actuator_id, STRING dxl_device_name, STRING dxl_baud_rate)
virtual ~JointDynamixelProfileControl()
virtual std::vector< uint8_t > getId()
std::map< uint8_t, robotis_manipulator::ActuatorValue > previous_goal_value_
virtual ~GripperDynamixel()
virtual bool sendJointActuatorValue(std::vector< uint8_t > actuator_id, std::vector< robotis_manipulator::ActuatorValue > value_vector)
std::vector< uint8_t > id
virtual void setMode(std::vector< uint8_t > actuator_id, const void *arg)
virtual void init(std::vector< uint8_t > actuator_id, const void *arg)
DynamixelWorkbench * dynamixel_workbench_
bool writeProfileValue(std::vector< uint8_t > actuator_id, STRING profile_mode, uint32_t value)
bool setSDKHandler(uint8_t actuator_id)
bool setOperatingMode(std::vector< uint8_t > actuator_id, STRING dynamixel_mode="position_mode")
std::vector< robotis_manipulator::ActuatorValue > receiveAllDynamixelValue(std::vector< uint8_t > actuator_id)
virtual std::vector< robotis_manipulator::ActuatorValue > receiveJointActuatorValue(std::vector< uint8_t > actuator_id)
virtual ~JointDynamixel()