dynamixel_tool.h
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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) */
18 
19 #ifndef DYNAMIXEL_TOOL_H
20 #define DYNAMIXEL_TOOL_H
21 
22 #include <string.h>
23 #include <stdio.h>
24 
25 #include "dynamixel_item.h"
26 
28 {
29  private:
30  enum {DYNAMIXEL_BUFFER = 30};
31  uint8_t dxl_id_[DYNAMIXEL_BUFFER];
32  uint8_t dxl_cnt_;
33 
34  const char *model_name_;
35  uint16_t model_number_;
36 
38  const ModelInfo *model_info_;
39 
41 
42  public:
43  DynamixelTool();
45 
46  void initTool(void);
47 
48  bool addTool(const char *model_name, uint8_t id, const char **log = NULL);
49  bool addTool(uint16_t model_number, uint8_t id, const char **log = NULL);
50 
51  void addDXL(uint8_t id);
52 
53  const char *getModelName(void);
54  uint16_t getModelNumber(void);
55 
56  const uint8_t* getID(void);
57  uint8_t getDynamixelBuffer(void);
58  uint8_t getDynamixelCount(void);
59 
60  float getRPM(void);
61 
62  int64_t getValueOfMinRadianPosition(void);
63  int64_t getValueOfMaxRadianPosition(void);
64  int64_t getValueOfZeroRadianPosition(void);
65 
66  float getMinRadian(void);
67  float getMaxRadian(void);
68 
69  uint8_t getTheNumberOfControlItem(void);
70 
71  const ControlItem *getControlItem(const char *item_name, const char **log = NULL);
72  const ControlItem *getControlTable(void);
73  const ModelInfo *getModelInfo(void);
74 
75  private:
76  bool setControlTable(const char *model_name, const char **log = NULL);
77  bool setControlTable(uint16_t model_number, const char **log = NULL);
78 
79  bool setModelName(uint16_t model_number, const char **log = NULL);
80  bool setModelNumber(const char *model_name, const char **log = NULL);
81 };
82 #endif //DYNAMIXEL_TOOL_H
DynamixelTool::setModelNumber
bool setModelNumber(const char *model_name, const char **log=NULL)
Definition: dynamixel_tool.cpp:217
DynamixelTool::setModelName
bool setModelName(uint16_t model_number, const char **log=NULL)
Definition: dynamixel_tool.cpp:199
DynamixelTool::the_number_of_control_item_
uint16_t the_number_of_control_item_
Definition: dynamixel_tool.h:54
DynamixelTool::initTool
void initTool(void)
Definition: dynamixel_tool.cpp:120
DynamixelTool::addDXL
void addDXL(uint8_t id)
Definition: dynamixel_tool.cpp:160
DynamixelTool::dxl_cnt_
uint8_t dxl_cnt_
Definition: dynamixel_tool.h:46
DynamixelTool::getMaxRadian
float getMaxRadian(void)
Definition: dynamixel_tool.cpp:288
DynamixelTool::getDynamixelCount
uint8_t getDynamixelCount(void)
Definition: dynamixel_tool.cpp:253
DynamixelTool::getModelInfo
const ModelInfo * getModelInfo(void)
Definition: dynamixel_tool.cpp:323
DynamixelTool::setControlTable
bool setControlTable(const char *model_name, const char **log=NULL)
Definition: dynamixel_tool.cpp:165
DynamixelTool::DynamixelTool
DynamixelTool()
Definition: dynamixel_tool.cpp:116
DynamixelTool::getControlTable
const ControlItem * getControlTable(void)
Definition: dynamixel_tool.cpp:318
DynamixelTool::model_info_
const ModelInfo * model_info_
Definition: dynamixel_tool.h:52
DynamixelTool::getValueOfMinRadianPosition
int64_t getValueOfMinRadianPosition(void)
Definition: dynamixel_tool.cpp:268
DynamixelTool::getModelName
const char * getModelName(void)
Definition: dynamixel_tool.cpp:236
DynamixelTool::control_table_
const ControlItem * control_table_
Definition: dynamixel_tool.h:51
DynamixelTool::addTool
bool addTool(const char *model_name, uint8_t id, const char **log=NULL)
Definition: dynamixel_tool.cpp:128
model_name
static const char * model_name
Definition: dynamixel_workbench.cpp:33
ModelInfo
Definition: dynamixel_item.h:121
DynamixelTool::getMinRadian
float getMinRadian(void)
Definition: dynamixel_tool.cpp:283
DynamixelTool::getID
const uint8_t * getID(void)
Definition: dynamixel_tool.cpp:246
dynamixel_item.h
DynamixelTool::model_number_
uint16_t model_number_
Definition: dynamixel_tool.h:49
DynamixelTool::getModelNumber
uint16_t getModelNumber(void)
Definition: dynamixel_tool.cpp:241
DynamixelTool::getValueOfMaxRadianPosition
int64_t getValueOfMaxRadianPosition(void)
Definition: dynamixel_tool.cpp:273
DynamixelTool::getDynamixelBuffer
uint8_t getDynamixelBuffer(void)
Definition: dynamixel_tool.cpp:258
DynamixelTool::getValueOfZeroRadianPosition
int64_t getValueOfZeroRadianPosition(void)
Definition: dynamixel_tool.cpp:278
ControlItem
Definition: dynamixel_item.h:113
DynamixelTool::getControlItem
const ControlItem * getControlItem(const char *item_name, const char **log=NULL)
Definition: dynamixel_tool.cpp:298
DynamixelTool
Definition: dynamixel_tool.h:27
DynamixelTool::getTheNumberOfControlItem
uint8_t getTheNumberOfControlItem(void)
Definition: dynamixel_tool.cpp:293
DynamixelTool::model_name_
const char * model_name_
Definition: dynamixel_tool.h:48
DynamixelTool::getRPM
float getRPM(void)
Definition: dynamixel_tool.cpp:263
DynamixelTool::dxl_id_
uint8_t dxl_id_[DYNAMIXEL_BUFFER]
Definition: dynamixel_tool.h:45
DynamixelTool::DYNAMIXEL_BUFFER
@ DYNAMIXEL_BUFFER
Definition: dynamixel_tool.h:58
DynamixelTool::~DynamixelTool
~DynamixelTool()
Definition: dynamixel_tool.cpp:118


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