dynamixel_interface::DynamixelInfo Struct Reference

Struct that describes each servo's place in the system including which joint it corresponds to. More...

#include <dynamixel_interface_controller.h>

Public Attributes
DynamixelControlMode	current_mode
	control mode (position, velocity, torque) More...
uint8_t	hardware_status
	current motor status, used for hardware error reporting More...
int	id
	The unique (per port) ID of the motor. More...
std::string	joint_name
	The unique (globally) name of the joint. More...
int	max_pos
	Motor maximum encoder value. Note that if min > max, the motor direction is reversed. More...
double	max_vel
	Motor maximum joint velocity (rad/s) More...
int	min_pos
	Motor minimum encoder value. Note that if min > max, the motor direction is reversed. More...
const DynamixelSpec *	model_spec
	Motor model specification including encoder counts and unit conversion factors. More...
bool	torque_enabled
	Motor enable flag. More...
double	torque_limit
	Motor maximum torque limit (rated max) More...
int	zero_pos
	Motor initial position (in raw encoder values). This value defines the 0 radian position. More...

Detailed Description

Struct that describes each servo's place in the system including which joint it corresponds to.

Definition at line 108 of file dynamixel_interface_controller.h.

Member Data Documentation

current_mode

DynamixelControlMode dynamixel_interface::DynamixelInfo::current_mode

control mode (position, velocity, torque)

Definition at line 123 of file dynamixel_interface_controller.h.

hardware_status

uint8_t dynamixel_interface::DynamixelInfo::hardware_status

current motor status, used for hardware error reporting

Definition at line 124 of file dynamixel_interface_controller.h.

id

int dynamixel_interface::DynamixelInfo::id

The unique (per port) ID of the motor.

Definition at line 110 of file dynamixel_interface_controller.h.

joint_name

std::string dynamixel_interface::DynamixelInfo::joint_name

The unique (globally) name of the joint.

Definition at line 111 of file dynamixel_interface_controller.h.

max_pos

int dynamixel_interface::DynamixelInfo::max_pos

Motor maximum encoder value. Note that if min > max, the motor direction is reversed.

Definition at line 118 of file dynamixel_interface_controller.h.

max_vel

double dynamixel_interface::DynamixelInfo::max_vel

Motor maximum joint velocity (rad/s)

Definition at line 113 of file dynamixel_interface_controller.h.

min_pos

int dynamixel_interface::DynamixelInfo::min_pos

Motor minimum encoder value. Note that if min > max, the motor direction is reversed.

Definition at line 117 of file dynamixel_interface_controller.h.

model_spec

const DynamixelSpec* dynamixel_interface::DynamixelInfo::model_spec

Motor model specification including encoder counts and unit conversion factors.

Definition at line 120 of file dynamixel_interface_controller.h.

torque_enabled

bool dynamixel_interface::DynamixelInfo::torque_enabled

Motor enable flag.

Definition at line 122 of file dynamixel_interface_controller.h.

torque_limit

double dynamixel_interface::DynamixelInfo::torque_limit

Motor maximum torque limit (rated max)

Definition at line 114 of file dynamixel_interface_controller.h.

zero_pos

int dynamixel_interface::DynamixelInfo::zero_pos

Motor initial position (in raw encoder values). This value defines the 0 radian position.

Definition at line 116 of file dynamixel_interface_controller.h.

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The documentation for this struct was generated from the following file:

• dynamixel_interface_controller.h