Namespaces | Enumerations
dynamixel_const.h File Reference

Defines the register address tables for each series of dynamixel, as well as the control and status codes for communication. More...

#include <stdint.h>
#include <string>
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Namespaces

 dynamixel_interface
 

Enumerations

enum  dynamixel_interface::DynamixelControlMode {
  dynamixel_interface::UNKNOWN = -1, dynamixel_interface::kModeTorqueControl = 0, dynamixel_interface::kModeVelocityControl = 1, dynamixel_interface::kModePositionControl = 3,
  dynamixel_interface::kModeExtendedPositionControl = 4, dynamixel_interface::kModeCurrentBasedPositionControl = 5, dynamixel_interface::kModePWMControl = 16
}
 
enum  dynamixel_interface::DynamixelErrorCode {
  dynamixel_interface::kErrorNoError = 0, dynamixel_interface::kErrorOverload = 32, dynamixel_interface::kErrorElectricShock = 16, dynamixel_interface::kErrorMotorEncoder = 8,
  dynamixel_interface::kErrorOverheating = 4, dynamixel_interface::kErrorMotorHall = 2, dynamixel_interface::kErrorInputVoltage = 1, dynamixel_interface::kErrorLegacyInstruction = 64,
  dynamixel_interface::kErrorLegacyChecksum = 16, dynamixel_interface::kErrorLegacyRange = 8, dynamixel_interface::kErrorLegacyAngleLimit = 2
}
 Error return codes. More...
 
enum  dynamixel_interface::DynamixelInstruction {
  dynamixel_interface::kInstPing = 1, dynamixel_interface::kInstReadData = 2, dynamixel_interface::kInstWriteData = 3, dynamixel_interface::kInstRegWrite = 4,
  dynamixel_interface::kInstAction = 5, dynamixel_interface::kInstReset = 6, dynamixel_interface::kInstSyncWrite = 0x83, dynamixel_interface::kInstBulkRead = 0x92,
  dynamixel_interface::kInstBroadcast = 254
}
 Instruction codes for various commands. More...
 
enum  dynamixel_interface::DynamixelLegacyProRegisterTable {
  dynamixel_interface::kRegLegacyPro_ModelNumber = 0, dynamixel_interface::kRegLegacyPro_ModelInfo = 2, dynamixel_interface::kRegLegacyPro_FirmwareVersion = 6, dynamixel_interface::kRegLegacyPro_ID = 7,
  dynamixel_interface::kRegLegacyPro_BaudRate = 8, dynamixel_interface::kRegLegacyPro_ReturnDelayTime = 9, dynamixel_interface::kRegLegacyPro_OperatingMode = 11, dynamixel_interface::kRegLegacyPro_LimitTemperature = 21,
  dynamixel_interface::kRegLegacyPro_DownLimitVoltage = 24, dynamixel_interface::kRegLegacyPro_UpLimitVoltage = 22, dynamixel_interface::kRegLegacyPro_LED = 25, dynamixel_interface::kRegLegacyPro_AccelLimit = 26,
  dynamixel_interface::kRegLegacyPro_VelocityLimit = 32, dynamixel_interface::kRegLegacyPro_MaxTorque = 30, dynamixel_interface::kRegLegacyPro_MaxAngleLimit = 36, dynamixel_interface::kRegLegacyPro_MinAngleLimit = 40,
  dynamixel_interface::kRegLegacyPro_DataPort1Mode = 44, dynamixel_interface::kRegLegacyPro_DataPort2Mode = 45, dynamixel_interface::kRegLegacyPro_DataPort3Mode = 46, dynamixel_interface::kRegLegacyPro_DataPort4Mode = 47,
  dynamixel_interface::kRegLegacyPro_VelocityIGain = 586, dynamixel_interface::kRegLegacyPro_VelocityPGain = 588, dynamixel_interface::kRegLegacyPro_PositionPGain = 594, dynamixel_interface::kRegLegacyPro_TorqueEnable = 562,
  dynamixel_interface::kRegLegacyPro_GoalPosition = 596, dynamixel_interface::kRegLegacyPro_GoalVelocity = 600, dynamixel_interface::kRegLegacyPro_GoalTorque = 604, dynamixel_interface::kRegLegacyPro_PresentPosition = 611,
  dynamixel_interface::kRegLegacyPro_PresentVelocity = 615, dynamixel_interface::kRegLegacyPro_PresentCurrent = 621, dynamixel_interface::kRegLegacyPro_PresentVoltage = 623, dynamixel_interface::kRegLegacyPro_PresentTemperature = 625,
  dynamixel_interface::kRegLegacyPro_DataPort1 = 626, dynamixel_interface::kRegLegacyPro_DataPort2 = 628, dynamixel_interface::kRegLegacyPro_DataPort3 = 630, dynamixel_interface::kRegLegacyPro_DataPort4 = 632,
  dynamixel_interface::kRegLegacyPro_RegisteredInstruction = 890, dynamixel_interface::kRegLegacyPro_Moving = 610, dynamixel_interface::kRegLegacyPro_ReturnLevel = 891, dynamixel_interface::kRegLegacyPro_HardwareErrorStatus = 892
}
 Control table/register addresses for each series of dynamixel. More...
 
enum  dynamixel_interface::DynamixelLegacyRegisterTable {
  dynamixel_interface::kRegLegacy_ModelNumber = 0, dynamixel_interface::kRegLegacy_FirmwareVersion = 2, dynamixel_interface::kRegLegacy_ID = 3, dynamixel_interface::kRegLegacy_BaudRate = 4,
  dynamixel_interface::kRegLegacy_ReturnDelayTime = 5, dynamixel_interface::kRegLegacy_CWAngleLimit = 6, dynamixel_interface::kRegLegacy_CCWAngleLimit = 8, dynamixel_interface::kRegLegacy_DriveMode = 10,
  dynamixel_interface::kRegLegacy_TemperatureLimit = 11, dynamixel_interface::kRegLegacy_MinVoltageLimit = 12, dynamixel_interface::kRegLegacy_MaxVoltageLimit = 13, dynamixel_interface::kRegLegacy_MaxTorque = 14,
  dynamixel_interface::kRegLegacy_ReturnLevel = 16, dynamixel_interface::kRegLegacy_AlarmLED = 17, dynamixel_interface::kRegLegacy_AlarmShutdown = 18, dynamixel_interface::kRegLegacy_MultiTurnOffset = 20,
  dynamixel_interface::kRegLegacy_ResolutionDivider = 22, dynamixel_interface::kRegLegacy_TorqueEnable = 24, dynamixel_interface::kRegLegacy_LED = 25, dynamixel_interface::kRegLegacy_DGain = 26,
  dynamixel_interface::kRegLegacy_IGain = 27, dynamixel_interface::kRegLegacy_PGain = 28, dynamixel_interface::kRegLegacy_CWComplianceMargin = 26, dynamixel_interface::kRegLegacy_CCWComplianceMargin = 27,
  dynamixel_interface::kRegLegacy_CWComplianceSlope = 28, dynamixel_interface::kRegLegacy_CCWComplianceSlope = 29, dynamixel_interface::kRegLegacy_GoalPosition = 30, dynamixel_interface::kRegLegacy_MovingSpeed = 32,
  dynamixel_interface::kRegLegacy_TorqueLimit = 34, dynamixel_interface::kRegLegacy_PresentPosition = 36, dynamixel_interface::kRegLegacy_PresentSpeed = 38, dynamixel_interface::kRegLegacy_PresentLoad = 40,
  dynamixel_interface::kRegLegacy_PresentVoltage = 42, dynamixel_interface::kRegLegacy_PresentTemperature = 43, dynamixel_interface::kRegLegacy_RegisteredInstruction = 44, dynamixel_interface::kRegLegacy_Moving = 46,
  dynamixel_interface::kRegLegacy_Lock = 47, dynamixel_interface::kRegLegacy_Punch = 48, dynamixel_interface::kRegLegacy_RealtimeTick = 50, dynamixel_interface::kRegLegacy_SensedCurrent = 56,
  dynamixel_interface::kRegLegacy_PresentCurrent = 68, dynamixel_interface::kRegLegacy_TorqueControlEnable = 70, dynamixel_interface::kRegLegacy_GoalTorque = 71, dynamixel_interface::kRegLegacy_GoalAcceleration = 73
}
 
enum  dynamixel_interface::DynamixelProRegisterTable {
  dynamixel_interface::kRegP_ModelNumber = 0, dynamixel_interface::kRegP_ModelInfo = 2, dynamixel_interface::kRegP_FirmwareVersion = 6, dynamixel_interface::kRegP_ID = 7,
  dynamixel_interface::kRegP_BaudRate = 8, dynamixel_interface::kRegP_ReturnDelayTime = 9, dynamixel_interface::kRegP_DriveMode = 10, dynamixel_interface::kRegP_OperatingMode = 11,
  dynamixel_interface::kRegP_ShadowID = 12, dynamixel_interface::kRegP_ProtocolType = 13, dynamixel_interface::kRegP_HomingOffset = 20, dynamixel_interface::kRegP_MovingThreshold = 24,
  dynamixel_interface::kRegP_TemperatureLimit = 31, dynamixel_interface::kRegP_MaxVoltageLimit = 32, dynamixel_interface::kRegP_MinVoltageLimit = 34, dynamixel_interface::kRegP_PWMLimit = 36,
  dynamixel_interface::kRegP_CurrentLimit = 38, dynamixel_interface::kRegP_AccelerationLimit = 40, dynamixel_interface::kRegP_VelocityLimit = 44, dynamixel_interface::kRegP_MaxPositionLimit = 48,
  dynamixel_interface::kRegP_MinPositionLimit = 52, dynamixel_interface::kRegP_DataPort1Mode = 56, dynamixel_interface::kRegP_DataPort2Mode = 57, dynamixel_interface::kRegP_DataPort3Mode = 58,
  dynamixel_interface::kRegP_DataPort4Mode = 59, dynamixel_interface::kRegP_Shutdown = 63, dynamixel_interface::kRegP_IndirectAddress1 = 168, dynamixel_interface::kRegP_TorqueEnable = 512,
  dynamixel_interface::kRegP_RedLED = 513, dynamixel_interface::kRegP_GreenLED = 514, dynamixel_interface::kRegP_BlueLED = 515, dynamixel_interface::kRegP_StatusReturnLevel = 516,
  dynamixel_interface::kRegP_RegisteredInstruction = 517, dynamixel_interface::kRegP_HardwareErrorStatus = 518, dynamixel_interface::kRegP_VelocityIGain = 524, dynamixel_interface::kRegP_VelocityPGain = 526,
  dynamixel_interface::kRegP_PositionDGain = 528, dynamixel_interface::kRegP_PositionIGain = 530, dynamixel_interface::kRegP_PositionPGain = 532, dynamixel_interface::kRegP_Feedforward2ndGain = 536,
  dynamixel_interface::kRegP_Feedforward1stGain = 538, dynamixel_interface::kRegP_BusWatchdog = 546, dynamixel_interface::kRegP_GoalPWM = 548, dynamixel_interface::kRegP_GoalCurrent = 550,
  dynamixel_interface::kRegP_GoalVelocity = 552, dynamixel_interface::kRegP_ProfileAcceleration = 556, dynamixel_interface::kRegP_ProfileVelocity = 560, dynamixel_interface::kRegP_GoalPosition = 564,
  dynamixel_interface::kRegP_RealtimeTick = 568, dynamixel_interface::kRegP_Moving = 570, dynamixel_interface::kRegP_MovingStatus = 571, dynamixel_interface::kRegP_PresentPWM = 572,
  dynamixel_interface::kRegP_PresentCurrent = 574, dynamixel_interface::kRegP_PresentVelocity = 576, dynamixel_interface::kRegP_PresentPosition = 580, dynamixel_interface::kRegP_VelocityTrajectory = 584,
  dynamixel_interface::kRegP_PositionTrajectory = 588, dynamixel_interface::kRegP_PresentInputVoltage = 592, dynamixel_interface::kRegP_PresentTemperature = 594, dynamixel_interface::kRegP_DataPort1 = 600,
  dynamixel_interface::kRegP_DataPort2 = 602, dynamixel_interface::kRegP_DataPort3 = 604, dynamixel_interface::kRegP_DataPort4 = 606, dynamixel_interface::kRegP_IndirectData1 = 634
}
 
enum  dynamixel_interface::DynamixelSeriesType {
  dynamixel_interface::kSeriesAX = 0, dynamixel_interface::kSeriesRX = 1, dynamixel_interface::kSeriesDX = 2, dynamixel_interface::kSeriesEX = 3,
  dynamixel_interface::kSeriesLegacyMX = 4, dynamixel_interface::kSeriesMX = 5, dynamixel_interface::kSeriesX = 6, dynamixel_interface::kSeriesLegacyPro = 7,
  dynamixel_interface::kSeriesP = 8, dynamixel_interface::kSeriesUnknown = 9
}
 Dynamixel types. More...
 
enum  dynamixel_interface::DynamixelStandardRegisterTable {
  dynamixel_interface::kRegStandard_ModelNumber = 0, dynamixel_interface::kRegStandard_ModelInfo = 2, dynamixel_interface::kRegStandard_FirmwareVersion = 6, dynamixel_interface::kRegStandard_ID = 7,
  dynamixel_interface::kRegStandard_BaudRate = 8, dynamixel_interface::kRegStandard_ReturnDelayTime = 9, dynamixel_interface::kRegStandard_DriveMode = 10, dynamixel_interface::kRegStandard_OperatingMode = 11,
  dynamixel_interface::kRegStandard_ShadowID = 12, dynamixel_interface::kRegStandard_ProtocolVersion = 13, dynamixel_interface::kRegStandard_HomingOffset = 20, dynamixel_interface::kRegStandard_MovingThreshold = 24,
  dynamixel_interface::kRegStandard_TemperatureLimit = 31, dynamixel_interface::kRegStandard_MaxVoltageLimit = 32, dynamixel_interface::kRegStandard_MinVoltageLimit = 34, dynamixel_interface::kRegStandard_PWMLimit = 36,
  dynamixel_interface::kRegStandard_CurrentLimit = 38, dynamixel_interface::kRegStandard_AccelerationLimit = 40, dynamixel_interface::kRegStandard_VelocityLimit = 44, dynamixel_interface::kRegStandard_MaxPositionLimit = 48,
  dynamixel_interface::kRegStandard_MinPositionLimit = 52, dynamixel_interface::kRegStandard_DataPort1Mode = 56, dynamixel_interface::kRegStandard_DataPort2Mode = 57, dynamixel_interface::kRegStandard_DataPort3Mode = 58,
  dynamixel_interface::kRegStandard_Shutdown = 63, dynamixel_interface::kRegStandard_TorqueEnable = 64, dynamixel_interface::kRegStandard_LED = 65, dynamixel_interface::kRegStandard_StatusReturnLevel = 68,
  dynamixel_interface::kRegStandard_RegisteredInstruction = 69, dynamixel_interface::kRegStandard_HardwareErrorStatus = 70, dynamixel_interface::kRegStandard_VelocityIGain = 76, dynamixel_interface::kRegStandard_VelocityPGain = 78,
  dynamixel_interface::kRegStandard_PositionDGain = 80, dynamixel_interface::kRegStandard_PositionIGain = 82, dynamixel_interface::kRegStandard_PositionPGain = 84, dynamixel_interface::kRegStandard_Feedforward2ndGain = 88,
  dynamixel_interface::kRegStandard_Feedforward1stGain = 90, dynamixel_interface::kRegStandard_BusWatchdog = 98, dynamixel_interface::kRegStandard_GoalPWM = 100, dynamixel_interface::kRegStandard_GoalCurrent = 102,
  dynamixel_interface::kRegStandard_GoalVelocity = 104, dynamixel_interface::kRegStandard_ProfileAcceleration = 108, dynamixel_interface::kRegStandard_ProfileVelocity = 112, dynamixel_interface::kRegStandard_GoalPosition = 116,
  dynamixel_interface::kRegStandard_RealtimeTick = 120, dynamixel_interface::kRegStandard_Moving = 122, dynamixel_interface::kRegStandard_MovingStatus = 123, dynamixel_interface::kRegStandard_PresentPWM = 124,
  dynamixel_interface::kRegStandard_PresentCurrent = 126, dynamixel_interface::kRegStandard_PresentVelocity = 128, dynamixel_interface::kRegStandard_PresentPosition = 132, dynamixel_interface::kRegStandard_VelocityTrajectory = 136,
  dynamixel_interface::kRegStandard_PositionTrajectory = 140, dynamixel_interface::kRegStandard_PresentInputVoltage = 144, dynamixel_interface::kRegStandard_PresentTemperature = 146, dynamixel_interface::kRegStandard_DataPort1 = 152,
  dynamixel_interface::kRegStandard_DataPort2 = 154, dynamixel_interface::kRegStandard_DataPort3 = 156, dynamixel_interface::kRegStandard_IndirectAddress1 = 168, dynamixel_interface::kRegStandard_IndirectData1 = 224
}
 

Detailed Description

Defines the register address tables for each series of dynamixel, as well as the control and status codes for communication.

Author
Tom Molnar (Tom.M.nosp@m.olna.nosp@m.r@dat.nosp@m.a61..nosp@m.csiro.nosp@m..au), Brian Axelrod
Date
December, 2016

Definition in file dynamixel_const.h.


dynamixel_interface
Author(s): Tom Molnar
autogenerated on Wed Mar 2 2022 00:13:19