dynamixel_item.h
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1 /*******************************************************************************
2 * Copyright 2018 ROBOTIS CO., LTD.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *******************************************************************************/
16 
17 /* Authors: Taehun Lim (Darby), Ryan Shim */
18 
19 #ifndef DYNAMIXEL_ITEM_H
20 #define DYNAMIXEL_ITEM_H
21 
22 #include <stdint.h>
23 #include <stddef.h>
24 
25 #define AX_12A 12
26 #define AX_12W 300
27 #define AX_18A 18
28 
29 #define RX_10 10
30 #define RX_24F 24
31 #define RX_28 28
32 #define RX_64 64
33 
34 #define EX_106 107
35 
36 #define MX_12W 360
37 #define MX_28 29
38 #define MX_28_2 30
39 #define MX_64 310
40 #define MX_64_2 311
41 #define MX_106 320
42 #define MX_106_2 321
43 
44 #define XL_320 350
45 
46 #define XL330_M077 1190
47 #define XL330_M288 1200
48 
49 #define XL430_W250 1060
50 
51 #define XL430_W250_2 1090 // 2XL
52 #define XC430_W250_2 1160 // 2XC
53 
54 #define XC430_W150 1070
55 #define XC430_W240 1080
56 
57 #define XM430_W210 1030
58 #define XM430_W350 1020
59 
60 #define XM540_W150 1130
61 #define XM540_W270 1120
62 
63 #define XH430_W210 1010
64 #define XH430_W350 1000
65 #define XH430_V210 1050
66 #define XH430_V350 1040
67 
68 #define XH540_W150 1110
69 #define XH540_W270 1100
70 #define XH540_V150 1150
71 #define XH540_V270 1140
72 
73 #define XW540_T260 1170
74 #define XW540_T140 1180
75 
76 #define PRO_L42_10_S300_R 35072
77 #define PRO_L54_30_S400_R 37928
78 #define PRO_L54_30_S500_R 37896
79 #define PRO_L54_50_S290_R 38176
80 #define PRO_L54_50_S500_R 38152
81 
82 #define PRO_M42_10_S260_R 43288
83 #define PRO_M54_40_S250_R 46096
84 #define PRO_M54_60_S250_R 46352
85 
86 #define PRO_H42_20_S300_R 51200
87 #define PRO_H54_100_S500_R 53768
88 #define PRO_H54_200_S500_R 54024
89 
90 #define PRO_M42_10_S260_R_A 43289
91 #define PRO_M54_40_S250_R_A 46097
92 #define PRO_M54_60_S250_R_A 46353
93 
94 #define PRO_H42_20_S300_R_A 51201
95 #define PRO_H54_100_S500_R_A 53769
96 #define PRO_H54_200_S500_R_A 54025
97 
98 #define PRO_PLUS_M42P_010_S260_R 2100
99 #define PRO_PLUS_M54P_040_S250_R 2110
100 #define PRO_PLUS_M54P_060_S250_R 2120
101 
102 #define PRO_PLUS_H42P_020_S300_R 2000
103 #define PRO_PLUS_H54P_100_S500_R 2010
104 #define PRO_PLUS_H54P_200_S500_R 2020
105 
106 #define RH_P12_RN 35073
107 #define RH_P12_RN_A 35074
108 
109 #define BYTE 1
110 #define WORD 2
111 #define DWORD 4
112 
113 typedef struct
114 {
115  const char *item_name;
116  uint16_t address;
118  uint16_t data_length;
119 } ControlItem;
120 
121 typedef struct
122 {
123  float rpm;
124 
128 
129  float min_radian;
130  float max_radian;
131 } ModelInfo;
132 
133 // Public Functions
134 namespace DynamixelItem
135 {
136 const ControlItem *getControlTable(uint16_t model_number);
137 const ModelInfo *getModelInfo(uint16_t model_number);
138 
139 uint8_t getTheNumberOfControlItem();
140 }
141 
142 #endif //DYNAMIXEL_ITEM_H
ModelInfo::value_of_min_radian_position
int64_t value_of_min_radian_position
Definition: dynamixel_item.h:125
DynamixelItem::getControlTable
const ControlItem * getControlTable(uint16_t model_number)
Definition: dynamixel_item.cpp:1397
DynamixelItem::getModelInfo
const ModelInfo * getModelInfo(uint16_t model_number)
Definition: dynamixel_item.cpp:1520
ModelInfo::min_radian
float min_radian
Definition: dynamixel_item.h:129
DynamixelItem::getTheNumberOfControlItem
uint8_t getTheNumberOfControlItem()
Definition: dynamixel_item.cpp:1674
ModelInfo::max_radian
float max_radian
Definition: dynamixel_item.h:130
ControlItem::address
uint16_t address
Definition: dynamixel_item.h:116
ModelInfo
Definition: dynamixel_item.h:121
ModelInfo::value_of_max_radian_position
int64_t value_of_max_radian_position
Definition: dynamixel_item.h:127
ModelInfo::rpm
float rpm
Definition: dynamixel_item.h:123
ControlItem::item_name
const char * item_name
Definition: dynamixel_item.h:115
ControlItem::data_length
uint16_t data_length
Definition: dynamixel_item.h:118
ControlItem
Definition: dynamixel_item.h:113
ControlItem::item_name_length
uint8_t item_name_length
Definition: dynamixel_item.h:117
ModelInfo::value_of_zero_radian_position
int64_t value_of_zero_radian_position
Definition: dynamixel_item.h:126
DynamixelItem
Definition: dynamixel_item.h:134


dynamixel_workbench_toolbox
Author(s): Darby Lim , Ryan Shim
autogenerated on Wed Mar 2 2022 00:13:18