DynamixelControlTable.h

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// Dynamixel control code - header file
// Copyright (c) 2008 Erik Schuitema, Eelko van Breda
// Delft University of Technology
// www.dbl.tudelft.nl

#ifndef __DYNAMIXELCONTROLTABLE_H_INCLUDED__
#define __DYNAMIXELCONTROLTABLE_H_INCLUDED__

// Control Table Addresses
//EEPROM AREA

#ifndef __DYNAMIXEL_CONTROL_TABLE_HEADER__ //we need this define because we share this table with the 3mxl
#define __DYNAMIXEL_CONTROL_TABLE_HEADER__
#define P_MODEL_NUMBER_L                        0
#define P_MODEL_NUMBER_H                        1
#define P_VERSION                                       2
#define P_ID                                            3
#endif //__DYNAMIXEL_CONTROL_TABLE_HEADER__

#define P_BAUD_RATE                                     4
#define P_RETURN_DELAY_TIME                     5
#define P_CW_ANGLE_LIMIT_L                      6
#define P_CW_ANGLE_LIMIT_H                      7
#define P_CCW_ANGLE_LIMIT_L                     8
#define P_CCW_ANGLE_LIMIT_H                     9
#define P_SYSTEM_DATA2                          10
#define P_LIMIT_TEMPERATURE                     11
#define P_DOWN_LIMIT_VOLTAGE            12
#define P_UP_LIMIT_VOLTAGE                      13
#define P_MAX_TORQUE_L                          14
#define P_MAX_TORQUE_H                          15
#define P_RETURN_LEVEL                          16
#define P_ALARM_LED                                     17
#define P_ALARM_SHUTDOWN                        18
#define P_OPERATING_MODE                        19
#define P_DOWN_CALIBRATION_L            20
#define P_DOWN_CALIBRATION_H            21
#define P_UP_CALIBRATION_L                      22
#define P_UP_CALIBRATION_H                      23

#define P_TORQUE_ENABLE                         (24)
#define P_LED                                           (25)
#define P_CW_COMPLIANCE_MARGIN          (26)
#define P_CCW_COMPLIANCE_MARGIN         (27)
#define P_CW_COMPLIANCE_SLOPE           (28)
#define P_CCW_COMPLIANCE_SLOPE          (29)
#define P_GOAL_POSITION_L                       (30)
#define P_GOAL_POSITION_H                       (31)
#define P_GOAL_SPEED_L                          (32)
#define P_GOAL_SPEED_H                          (33)
#define P_TORQUE_LIMIT_L                        (34)
#define P_TORQUE_LIMIT_H                        (35)
#define P_PRESENT_POSITION_L            (36)
#define P_PRESENT_POSITION_H            (37)
#define P_PRESENT_SPEED_L                       (38)
#define P_PRESENT_SPEED_H                       (39)
#define P_PRESENT_LOAD_L                        (40)
#define P_PRESENT_LOAD_H                        (41)
#define P_PRESENT_VOLTAGE                       (42)
#define P_PRESENT_TEMPERATURE           (43)
#define P_REGISTERED_INSTRUCTION        (44)
#define P_PAUSE_TIME                            (45)
#define P_MOVING                                        (46)
#define P_LOCK                                          (47)
#define P_PUNCH_L                                       (48)
#define P_PUNCH_H                                       (49)




// Dynamixel supoorted baud rates
#define DXL_BAUD_RATE_1000000           1
#define DXL_BAUD_RATE_500000            3
#define DXL_BAUD_RATE_400000            4
#define DXL_BAUD_RATE_250000            7
#define DXL_BAUD_RATE_200000            9
#define DXL_BAUD_RATE_115200            16
#define DXL_BAUD_RATE_57600                     34
#define DXL_BAUD_RATE_19200                     103
#define DXL_BAUD_RATE_9600                      207




#endif //__DYNAMIXELCONTROLTABLE_H_INCLUDED__