DynamixelControlTable.h
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00001 // Dynamixel control code - header file
00002 // Copyright (c) 2008 Erik Schuitema, Eelko van Breda
00003 // Delft University of Technology
00004 // www.dbl.tudelft.nl
00005 
00006 #ifndef __DYNAMIXELCONTROLTABLE_H_INCLUDED__
00007 #define __DYNAMIXELCONTROLTABLE_H_INCLUDED__
00008 
00009 // Control Table Addresses
00010 //EEPROM AREA
00011 
00012 #ifndef __DYNAMIXEL_CONTROL_TABLE_HEADER__ //we need this define because we share this table with the 3mxl
00013 #define __DYNAMIXEL_CONTROL_TABLE_HEADER__
00014 #define P_MODEL_NUMBER_L                        0
00015 #define P_MODEL_NUMBER_H                        1
00016 #define P_VERSION                                       2
00017 #define P_ID                                            3
00018 #endif //__DYNAMIXEL_CONTROL_TABLE_HEADER__
00019 
00020 #define P_BAUD_RATE                                     4
00021 #define P_RETURN_DELAY_TIME                     5
00022 #define P_CW_ANGLE_LIMIT_L                      6
00023 #define P_CW_ANGLE_LIMIT_H                      7
00024 #define P_CCW_ANGLE_LIMIT_L                     8
00025 #define P_CCW_ANGLE_LIMIT_H                     9
00026 #define P_SYSTEM_DATA2                          10
00027 #define P_LIMIT_TEMPERATURE                     11
00028 #define P_DOWN_LIMIT_VOLTAGE            12
00029 #define P_UP_LIMIT_VOLTAGE                      13
00030 #define P_MAX_TORQUE_L                          14
00031 #define P_MAX_TORQUE_H                          15
00032 #define P_RETURN_LEVEL                          16
00033 #define P_ALARM_LED                                     17
00034 #define P_ALARM_SHUTDOWN                        18
00035 #define P_OPERATING_MODE                        19
00036 #define P_DOWN_CALIBRATION_L            20
00037 #define P_DOWN_CALIBRATION_H            21
00038 #define P_UP_CALIBRATION_L                      22
00039 #define P_UP_CALIBRATION_H                      23
00040 
00041 #define P_TORQUE_ENABLE                         (24)
00042 #define P_LED                                           (25)
00043 #define P_CW_COMPLIANCE_MARGIN          (26)
00044 #define P_CCW_COMPLIANCE_MARGIN         (27)
00045 #define P_CW_COMPLIANCE_SLOPE           (28)
00046 #define P_CCW_COMPLIANCE_SLOPE          (29)
00047 #define P_GOAL_POSITION_L                       (30)
00048 #define P_GOAL_POSITION_H                       (31)
00049 #define P_GOAL_SPEED_L                          (32)
00050 #define P_GOAL_SPEED_H                          (33)
00051 #define P_TORQUE_LIMIT_L                        (34)
00052 #define P_TORQUE_LIMIT_H                        (35)
00053 #define P_PRESENT_POSITION_L            (36)
00054 #define P_PRESENT_POSITION_H            (37)
00055 #define P_PRESENT_SPEED_L                       (38)
00056 #define P_PRESENT_SPEED_H                       (39)
00057 #define P_PRESENT_LOAD_L                        (40)
00058 #define P_PRESENT_LOAD_H                        (41)
00059 #define P_PRESENT_VOLTAGE                       (42)
00060 #define P_PRESENT_TEMPERATURE           (43)
00061 #define P_REGISTERED_INSTRUCTION        (44)
00062 #define P_PAUSE_TIME                            (45)
00063 #define P_MOVING                                        (46)
00064 #define P_LOCK                                          (47)
00065 #define P_PUNCH_L                                       (48)
00066 #define P_PUNCH_H                                       (49)
00067 
00068 
00069 
00070 
00071 // Dynamixel supoorted baud rates
00072 #define DXL_BAUD_RATE_1000000           1
00073 #define DXL_BAUD_RATE_500000            3
00074 #define DXL_BAUD_RATE_400000            4
00075 #define DXL_BAUD_RATE_250000            7
00076 #define DXL_BAUD_RATE_200000            9
00077 #define DXL_BAUD_RATE_115200            16
00078 #define DXL_BAUD_RATE_57600                     34
00079 #define DXL_BAUD_RATE_19200                     103
00080 #define DXL_BAUD_RATE_9600                      207
00081 
00082 
00083 
00084 
00085 #endif //__DYNAMIXELCONTROLTABLE_H_INCLUDED__


threemxl
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autogenerated on Fri Aug 28 2015 13:21:08