.. _program_listing_file__tmp_ws_src_dynamixel_workbench_dynamixel_workbench_toolbox_include_dynamixel_workbench_toolbox_dynamixel_item.h:

Program Listing for File dynamixel_item.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_dynamixel_workbench_dynamixel_workbench_toolbox_include_dynamixel_workbench_toolbox_dynamixel_item.h>` (``/tmp/ws/src/dynamixel_workbench/dynamixel_workbench_toolbox/include/dynamixel_workbench_toolbox/dynamixel_item.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*******************************************************************************
   * Copyright 2018 ROBOTIS CO., LTD.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *******************************************************************************/
   
   /* Authors: Taehun Lim (Darby), Ryan Shim */
   
   #ifndef DYNAMIXEL_ITEM_H
   #define DYNAMIXEL_ITEM_H
   
   #include <stdint.h>
   #include <stddef.h>
   
   #define AX_12A     12
   #define AX_12W     300
   #define AX_18A     18
   
   #define RX_10      10
   #define RX_24F     24
   #define RX_28      28
   #define RX_64      64
   
   #define EX_106     107
   
   #define MX_12W     360
   #define MX_28      29
   #define MX_28_2    30
   #define MX_64      310
   #define MX_64_2    311
   #define MX_106     320
   #define MX_106_2   321
   
   #define XL_320     350
   
   #define XL330_M077 1190
   #define XL330_M288 1200
   
   #define XC330_M181 1230
   #define XC330_M288 1240
   #define XC330_T181 1210
   #define XC330_T288 1220
   
   #define XL430_W250 1060
   
   #define XL430_W250_2 1090 // 2XL
   #define XC430_W250_2 1160 // 2XC
   
   #define XC430_W150 1070
   #define XC430_W240 1080
   
   #define XM430_W210 1030
   #define XM430_W350 1020
   
   #define XM540_W150 1130
   #define XM540_W270 1120
   
   #define XH430_W210 1010
   #define XH430_W350 1000
   #define XH430_V210 1050
   #define XH430_V350 1040
   
   #define XH540_W150 1110
   #define XH540_W270 1100
   #define XH540_V150 1150
   #define XH540_V270 1140
   
   #define XW430_T200 1280
   #define XW430_T333 1270
   #define XW540_T260 1170
   #define XW540_T140 1180
   
   #define PRO_L42_10_S300_R  35072
   #define PRO_L54_30_S400_R  37928
   #define PRO_L54_30_S500_R  37896
   #define PRO_L54_50_S290_R  38176
   #define PRO_L54_50_S500_R  38152
   
   #define PRO_M42_10_S260_R  43288
   #define PRO_M54_40_S250_R  46096
   #define PRO_M54_60_S250_R  46352
   
   #define PRO_H42_20_S300_R  51200
   #define PRO_H54_100_S500_R 53768
   #define PRO_H54_200_S500_R 54024
   
   #define PRO_M42_10_S260_R_A  43289
   #define PRO_M54_40_S250_R_A  46097
   #define PRO_M54_60_S250_R_A  46353
   
   #define PRO_H42_20_S300_R_A  51201
   #define PRO_H54_100_S500_R_A 53769
   #define PRO_H54_200_S500_R_A 54025
   
   #define PRO_PLUS_M42P_010_S260_R  2100
   #define PRO_PLUS_M54P_040_S250_R  2110
   #define PRO_PLUS_M54P_060_S250_R  2120
   
   #define PRO_PLUS_H42P_020_S300_R  2000
   #define PRO_PLUS_H54P_100_S500_R  2010
   #define PRO_PLUS_H54P_200_S500_R  2020
   
   #define RH_P12_RN   35073
   #define RH_P12_RN_A 35074
   
   #define BYTE  1
   #define WORD  2
   #define DWORD 4
   
   typedef struct 
   {
     const char *item_name;
     uint16_t    address;
     uint8_t       item_name_length;
     uint16_t    data_length;
   } ControlItem;
   
   typedef struct
   {
     float rpm;
   
     int64_t value_of_min_radian_position;
     int64_t value_of_zero_radian_position;
     int64_t value_of_max_radian_position;
   
     float  min_radian;
     float  max_radian;
   } ModelInfo;
   
   // Public Functions
   namespace DynamixelItem
   {
   const ControlItem *getControlTable(uint16_t model_number);
   const ModelInfo *getModelInfo(uint16_t model_number);
   
   uint8_t getTheNumberOfControlItem();
   }
   
   #endif //DYNAMIXEL_ITEM_H