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19 #include "../../include/dynamixel_workbench_toolbox/dynamixel_item.h"
62 static const char s_ID[] =
"ID";
63 static const char s_LED[] =
"LED";
158 #define COUNT_AX_ITEMS (sizeof(items_AX) / sizeof(items_AX[0]))
205 #define COUNT_RX_ITEMS (sizeof(items_RX) / sizeof(items_RX[0]))
254 #define COUNT_EX_ITEMS (sizeof(items_EX) / sizeof(items_EX[0]))
303 #define COUNT_MX_ITEMS (sizeof(items_MX) / sizeof(items_MX[0]))
367 #define COUNT_MX2_ITEMS (sizeof(items_MX2) / sizeof(items_MX2[0]))
419 #define COUNT_EXTMX_ITEMS (sizeof(items_EXTMX) / sizeof(items_EXTMX[0]))
485 #define COUNT_EXTMX2_ITEMS (sizeof(items_EXTMX2) / sizeof(items_EXTMX2[0]))
531 #define COUNT_XL320_ITEMS (sizeof(items_XL320) / sizeof(items_XL320[0]))
596 #define COUNT_XL330_ITEMS (sizeof(items_XL330) / sizeof(items_XL330[0]))
660 #define COUNT_XL_ITEMS (sizeof(items_XL) / sizeof(items_XL[0]))
726 #define COUNT_XM_ITEMS (sizeof(items_XM) / sizeof(items_XM[0]))
798 #define COUNT_EXTXM_ITEMS (sizeof(items_EXTXM) / sizeof(items_EXTXM[0]))
864 #define COUNT_XH_ITEMS (sizeof(items_XH) / sizeof(items_XH[0]))
930 #define COUNT_EXTXH_ITEMS (sizeof(items_EXTXH) / sizeof(items_EXTXH[0]))
995 #define COUNT_XW_ITEMS (sizeof(items_XW) / sizeof(items_XW[0]))
1054 #define COUNT_PRO_ITEMS (sizeof(items_PRO) / sizeof(items_PRO[0]))
1114 #define COUNT_EXTPRO_ITEMS (sizeof(items_EXTPRO) / sizeof(items_EXTPRO[0]))
1117 {0.00249657, -144197, 0, 144197, -3.14159265, 3.14159265},
1118 {0.00199234, -180692, 0, 180692, -3.14159265, 3.14159265},
1119 {0.00346667, -103846, 0, 103846, -3.14159265, 3.14159265},
1120 {0.00389076, -131593, 0, 131593, -3.14159265, 3.14159265},
1121 {0.00397746, -125708, 0, 125708, -3.14159265, 3.14159265},
1122 {0.00329218, -151875, 0, 151875, -3.14159265, 3.14159265},
1123 {0.00199234, -250961, 0, 250961, -3.14159265, 3.14159265}};
1176 #define COUNT_EXTPRO_A_ITEMS (sizeof(items_EXTPRO_A) / sizeof(items_EXTPRO_A[0]))
1179 {0.00389076, -131593, 0, 131593, -3.14159265, 3.14159265},
1180 {0.00397746, -125708, 0, 125708, -3.14159265, 3.14159265},
1181 {0.00329218, -151875, 0, 151875, -3.14159265, 3.14159265},
1182 {0.00199234, -250961, 0, 250961, -3.14159265, 3.14159265}};
1250 #define COUNT_EXTPRO_PLUS_ITEMS (sizeof(items_PRO_PLUS) / sizeof(items_PRO_PLUS[0]))
1253 {0.01, -251173, 0, 251173, -3.14159265, 3.14159265},
1254 {0.01, -251173, 0, 251173, -3.14159265, 3.14159265},
1255 {0.01, -262931, 0, 262931, -3.14159265, 3.14159265},
1256 {0.01, -303454, 0, 303454, -3.14159265, 3.14159265},
1257 {0.01, -501433, 0, 501433, -3.14159265, 3.14159265},
1258 {0.01, -501433, 0, 501433, -3.14159265, 3.14159265}};
1310 #define COUNT_Gripper_ITEMS (sizeof(items_Gripper) / sizeof(items_Gripper[0]))
1384 #define COUNT_EXTGripper_ITEMS (sizeof(items_EXTGripper) / sizeof(items_EXTGripper[0]))
1399 uint16_t num = model_number;
1513 control_table = NULL;
1517 return control_table;
1522 uint16_t num = model_number;
static const char s_Baud_Rate[]
static const ControlItem items_EXTPRO[]
static const char s_Status_Return_Level[]
static const char s_Return_Delay_Time[]
static const char s_Sensored_Current[]
static const char s_Registered_Instruction[]
static const char s_Feedforward_1st_Gain[]
static const ModelInfo info_XH
static const char s_Present_Current[]
static const ModelInfo info_XL
static const char s_Profile_Acceleration[]
static const ControlItem items_MX2[]
static const ModelInfo info_Gripper
static uint8_t the_number_of_item
static const char s_Position_Trajectory[]
static const ModelInfo info_PRO_PLUS[]
static const ModelInfo info_EXTMX2
static const char s_Protocol_Version[]
static const char s_Present_Voltage[]
static const char s_Position_D_Gain[]
static const char s_Firmware_Version[]
static const ControlItem items_EXTMX2[]
const ControlItem * getControlTable(uint16_t model_number)
static const ControlItem items_XL[]
static const char s_Multi_Turn_Offset[]
#define COUNT_EXTPRO_PLUS_ITEMS
#define PRO_PLUS_M54P_060_S250_R
static const char s_Velocity_Limit[]
static const char s_Goal_Current[]
static const char s_Goal_Acceleration[]
static const ModelInfo info_EXTGripper
static const ModelInfo info_AX
#define PRO_H42_20_S300_R_A
static const ModelInfo info_XL330
#define PRO_H54_100_S500_R
static const char s_Alarm_LED[]
#define PRO_PLUS_H54P_100_S500_R
static const char s_Min_Position_Limit[]
static const ControlItem items_EX[]
static const ModelInfo info_XM
static const ControlItem items_XL330[]
const ModelInfo * getModelInfo(uint16_t model_number)
static const char s_Current_Limit[]
static const char s_Torque_Control_Mode_Enable[]
static const char s_Velocity_P_Gain[]
#define PRO_L54_30_S400_R
#define COUNT_EXTMX2_ITEMS
static const ControlItem items_EXTXM[]
static const ControlItem items_XL320[]
static const char s_Operating_Mode[]
static const char s_Secondary_ID[]
static const char s_CCW_Compliance_Margin[]
static const char s_Current[]
static const char s_Goal_PWM[]
uint8_t getTheNumberOfControlItem()
static const ControlItem items_EXTXH[]
static const ControlItem items_Gripper[]
#define COUNT_EXTPRO_ITEMS
static const char s_External_Port_Data_3[]
static const ModelInfo info_RX
static const char s_Homing_Offset[]
#define PRO_M42_10_S260_R
#define PRO_H54_200_S500_R_A
static const ModelInfo info_EXTXH
static const char s_Moving_Speed[]
static const char s_Control_Mode[]
static const char s_External_Port_Mode_2[]
static const char s_CW_Compliance_Margin[]
static const char s_Lock[]
static const char s_I_gain[]
static const char s_Present_Load[]
#define PRO_PLUS_M54P_040_S250_R
#define PRO_M42_10_S260_R_A
static const char s_PWM_Limit[]
#define PRO_M54_60_S250_R
#define PRO_H54_100_S500_R_A
static const char s_Goal_Velocity[]
static const char s_External_Port_Data_4[]
static const char s_Velocity_Trajectory[]
static const ModelInfo info_EXTPRO[]
static const ModelInfo info_XW
static const char s_External_Port_Data_2[]
static const char s_Profile_Velocity[]
#define PRO_M54_60_S250_R_A
#define PRO_H54_200_S500_R
static const char s_Feedforward_2nd_Gain[]
static const ControlItem items_MX[]
static const char s_Acceleration_Limit[]
static const ControlItem items_XM[]
static const char s_Present_Input[]
static const char s_Registered[]
static const ControlItem items_EXTMX[]
static const char s_CCW_Compliance_Slope[]
static const ControlItem items_XW[]
static const char s_CW_Compliance_Slope[]
static const ControlItem items_PRO[]
static const char s_External_Port_Mode_4[]
static const char s_Realtime_Tick[]
static const char s_Resolution_Divider[]
static const char s_Max_Voltage_Limit[]
static const ModelInfo info_MX2
static const char s_CW_Angle_Limit[]
static const char s_Moving[]
static const char s_Max_Position_Limit[]
static const char s_Present_Speed[]
#define PRO_PLUS_H42P_020_S300_R
#define PRO_L54_50_S500_R
#define PRO_H42_20_S300_R
static const ModelInfo info_EXTPRO_A[]
static const char s_Torque_Enable[]
static const char s_D_gain[]
#define PRO_M54_40_S250_R_A
static const ModelInfo info_PRO
#define PRO_PLUS_H54P_200_S500_R
static const ModelInfo info_EXTMX
static const ControlItem items_EXTPRO_A[]
static const char s_Bus_Watchdog[]
#define PRO_L42_10_S300_R
static const ModelInfo info_XL320
static const char s_Moving_Threshold[]
static const char s_Torque_Limit[]
#define PRO_L54_30_S500_R
static const char s_Present_Position[]
static const char s_Max_Torque[]
static const char s_Goal_Torque[]
static const char s_External_Port_Mode_1[]
static const char s_External_Port_Data_1[]
static const char s_Moving_Status[]
static const char s_LED_RED[]
static const char s_Present_Input_Voltage[]
static const char s_Punch[]
static const char s_Present_Temperature[]
static const char s_External_Port_Mode_3[]
static const char s_Shutdown[]
#define COUNT_Gripper_ITEMS
static const char s_PWM_Slope[]
static const char s_Hardware_Error_Status[]
static const ControlItem items_PRO_PLUS[]
#define COUNT_EXTXM_ITEMS
static const char s_LED_BLUE[]
static const char s_LED_GREEN[]
static const ModelInfo info_MX
static const ModelInfo info_EX
static const ControlItem items_RX[]
#define COUNT_EXTMX_ITEMS
static const char s_LED[]
#define COUNT_EXTPRO_A_ITEMS
static const char s_P_gain[]
#define COUNT_EXTXH_ITEMS
static const char s_Drive_Mode[]
static const char s_Position_I_Gain[]
static const char s_Present_PWM[]
static const ControlItem items_AX[]
static const char s_Present_Velocity[]
static const char s_Min_Voltage_Limit[]
static const char s_Velocity_I_Gain[]
static const char s_Goal_Position[]
#define PRO_L54_50_S290_R
#define PRO_PLUS_M42P_010_S260_R
static const ControlItem items_EXTGripper[]
#define COUNT_EXTGripper_ITEMS
static const char s_Model_Number[]
static const char s_Position_P_Gain[]
static const ControlItem items_XH[]
static const ModelInfo info_EXTXM
static const char s_Temperature_Limit[]
#define COUNT_XL320_ITEMS
#define COUNT_XL330_ITEMS
static const char s_CCW_Angle_Limit[]
#define PRO_M54_40_S250_R