#include <Dynamixel.h>

Inheritance diagram for CDynamixel:

Public Member Functions
	CDynamixel ()
virtual int	changeID (const int newID)
	Change hardware motor ID.
virtual int	enableLED (int state)
	Enable LED.
virtual int	enableTorque (int state)
	Enable torque.
virtual int	getAngleLimits ()
	Read angle limits from hardware.
virtual int	getID ()
	Get motor ID.
virtual int	getPos ()
	Read position from hardware.
virtual int	getPosAndSpeed ()
	Read position and speed from hardware.
virtual int	getState ()
	Read entire state from hardware.
virtual int	getTemp ()
	Read temperature from hardware.
virtual int	init (bool sendConfigToMotor=true)
	Initialize this Dynamixel.
virtual double	presentAcceleration ()
	Get cached acceleration.
virtual double	presentAnalog1Voltage ()
	Get cached analog sensor 1 voltage.
virtual double	presentAnalog2Voltage ()
	Get cached analog sensor 2 voltage.
virtual double	presentAnalog3Voltage ()
	Get cached analog sensor 3 voltage.
virtual double	presentAnalog4Voltage ()
	Get cached analog sensor 4 voltage.
virtual double	presentAngleLowerLimit ()
	Get cached lower angle limit.
virtual double	presentAngleUpperLimit ()
	Get cached upper angle limit.
virtual double	presentBusVoltage ()
	Get cached bus voltage.
virtual WORD	presentCCWAngleLimit ()
	Get cached counter-clockwise angle limit.
virtual double	presentCurrent ()
	Get cached current.
virtual double	presentCurrentADCVoltage ()
	Get cached motor current ADC voltage.
virtual WORD	presentCWAngleLimit ()
	Get cached clockwise angle limit.
virtual double	presentLinearAcceleration ()
	Get cached linear acceleration.
virtual double	presentLinearPos ()
	Get cached linear position.
virtual double	presentLoad ()
	Get cached load value.
virtual double	presentPos ()
	Get cached position.
virtual double	presentSpeed ()
	Get cached speed.
virtual double	presentTemp ()
	Get cached temperature.
virtual double	presentTorque ()
	Get cached torque.
virtual double	presentVoltage ()
	Get cached motor voltage.
virtual int	printReport (FILE *fOut)
	Report on this Dynamixel.
virtual int	setAlarmLEDMask (const BYTE mask)
	Set which conditions cause the alarm LED to blink.
virtual int	setAlarmShutdownMask (const BYTE mask)
	Set which conditions trigger a shutdown.
virtual int	setAngleLimits (double lowerLimit, double upperLimit)
	Set angle limits.
virtual int	setAngleLowerLimit (double limit)
	Set lower angle limit.
virtual int	setAngleUpperLimit (double limit)
	Set upper angle limit.
virtual int	setBaudRate (const int baudRate)
	Set baud rate in bits/s.
virtual int	setBaudRateIndex (const BYTE baudRateIndex)
	Set baud rate in Dynamixel units.
virtual int	setCompliance (BYTE complianceMargin, BYTE complianceSlope)
	Set control flexibility.
virtual void	setConfig (CDxlConfig *config)
	Set motor configuration.
virtual int	setEndlessTurnMode (bool enabled, bool shouldSyncWrite=false)
	Endless turn mode ('wheel mode').
virtual int	setEndlessTurnTorque (double torqueRatio, bool shouldSyncWrite=false)
	Torque to apply in endless turn mode.
virtual int	setInitialTorqueLimit (double absMaxTorque)
	Set initial torque limit (EEPROM).
virtual void	setNullAngle (double nullAngle)
	Set null angle convention.
virtual int	setOperatingMode (const BYTE mode)
	Undocumented.
virtual int	setPos (double pos, double absSpeed, bool shouldSyncWrite=false)
	Set reference position and velocity.
virtual void	setPositiveDirection (bool clockwiseIsPositive)
	Set direction convention.
virtual int	setPunch (WORD punch)
	Unused.
virtual int	setRetlevel (const int returnlevel)
	Set status return level.
virtual int	setReturnDelayTime (const int microsecondsReturnDelay)
	Set return delay.
virtual void	setSerialPort (LxSerial *serialPort)
	Set serial port.
virtual int	setSpeed (double speed, bool shouldSyncWrite=false)
	Move to angle limit with reference speed.
virtual int	setTemperatureLimit (const int maxTemp)
	Set temperature limit.
virtual int	setTorqueLimit (double absMaxTorque)
	Set operational torque limit (RAM).
virtual int	setVoltageLimits (double minVoltage, double maxVoltage)
	Set voltage limits.
virtual	~CDynamixel ()
Protected Member Functions
int	clip (const int value, const int min, const int max)
double	dxlPosToInternalPos (WORD pos)
double	dxlSpeedToInternalSpeed (WORD speed)
double	dxlTorqueToInternalTorque (WORD torque)
int	internalPosToDxlPos (double pos)
int	internalSpeedToDxlSpeed (double speed)
WORD	internalTorqueToDxlTorque (double torque)
int	round (double val)
Protected Attributes
double	mAngleLUT [DXL_NUM_POSITIONS]
WORD	mCCWAngleLimit
	Counter-clockwise angle limit.
CDxlConfig	mConfig
WORD	mCWAngleLimit
	Clockwise angle limit.
double	mDirection
	Should be either 1.0 or -1.0 and is used as internal multiplication factor!
bool	mEndlessTurnMode
	Virtual state.
double	mLoad
	Current load expressed as a ratio of the maximum torque [dimensionless].
CLog2	mLog
double	mNullAngle
	Null-angle in SI units AFTER the mDirection sign convention.
double	mPosition
	Position [rad] in the range [0 - (10/6)pi] (0-300 degrees)
double	mSpeed
	Speed [rad/s].
double	mTemperature
	Temperature [deg. C].
double	mVoltage
	Voltage [V].

Detailed Description

Definition at line 51 of file Dynamixel.h.

Constructor & Destructor Documentation

CDynamixel::CDynamixel ( )

Definition at line 21 of file Dynamixel.cpp.

CDynamixel::~CDynamixel ( ) [virtual]

Definition at line 43 of file Dynamixel.cpp.

Member Function Documentation

int CDynamixel::changeID ( const int newID ) [virtual]

Change hardware motor ID.

Actually sets the new ID in the hardware.

Parameters:

newID New ID.

Reimplemented from CDxlGeneric.

Definition at line 295 of file Dynamixel.cpp.

int CDynamixel::clip	(	const int	value,
		const int	min,
		const int	max
	)		`[inline, protected]`

Definition at line 82 of file Dynamixel.h.

double CDynamixel::dxlPosToInternalPos ( WORD pos ) [protected]

Definition at line 124 of file Dynamixel.cpp.

double CDynamixel::dxlSpeedToInternalSpeed ( WORD speed ) [protected]

Definition at line 180 of file Dynamixel.cpp.

double CDynamixel::dxlTorqueToInternalTorque ( WORD torque ) [protected]

Definition at line 195 of file Dynamixel.cpp.

int CDynamixel::enableLED ( int state ) [virtual]

Enable LED.

Parameters:

state 0 to extinguish the LED, 1 to light it.

Reimplemented from CDxlGeneric.

Definition at line 317 of file Dynamixel.cpp.

int CDynamixel::enableTorque ( int state ) [virtual]

Enable torque.

Parameters:

state 0 to disable power, 1 to enable it.

Reimplemented from CDxlGeneric.

Definition at line 488 of file Dynamixel.cpp.

int CDynamixel::getAngleLimits ( ) [virtual]

Read angle limits from hardware.

Warning:: May not be called in endless turn mode!

See also:: presentCWAngleLimit() presentCCWAngleLimit() presentAngleLowerLimit() presentAngleUpperLimit().

Reimplemented from CDxlGeneric.

Definition at line 582 of file Dynamixel.cpp.

virtual int CDynamixel::getID ( ) [inline, virtual]

Get motor ID.

Warning:: Merely returns the internally cached ID of the motor and does not request it (how could it, anyway?)

Returns:: Motor ID.

Implements CDxlGeneric.

Definition at line 109 of file Dynamixel.h.

int CDynamixel::getPos ( ) [virtual]

Read position from hardware.

See also:: presentPos().

Reimplemented from CDxlGeneric.

Definition at line 368 of file Dynamixel.cpp.

int CDynamixel::getPosAndSpeed ( ) [virtual]

Read position and speed from hardware.

See also:: presentPos(), presentSpeed().

Reimplemented from CDxlGeneric.

Definition at line 382 of file Dynamixel.cpp.

int CDynamixel::getState ( ) [virtual]

Read entire state from hardware.

See also:: presentPos(), presentSpeed(), presentLoad(), presentVoltage(), presentTemp().

Reimplemented from CDxlGeneric.

Definition at line 344 of file Dynamixel.cpp.

int CDynamixel::getTemp ( ) [virtual]

Read temperature from hardware.

See also:: presentTemp().

Reimplemented from CDxlGeneric.

Definition at line 401 of file Dynamixel.cpp.

int CDynamixel::init ( bool sendConfigToMotor = true ) [virtual]

Initialize this Dynamixel.

Warning:: Make sure you call setConfig() before calling init()!

Parameters:

sendConfigToMotor Send configuration to motor

Reimplemented from CDxlGeneric.

Definition at line 234 of file Dynamixel.cpp.

int CDynamixel::internalPosToDxlPos ( double pos ) [protected]

Definition at line 133 of file Dynamixel.cpp.

int CDynamixel::internalSpeedToDxlSpeed ( double speed ) [protected]

Definition at line 190 of file Dynamixel.cpp.

WORD CDynamixel::internalTorqueToDxlTorque ( double torque ) [protected]

Definition at line 205 of file Dynamixel.cpp.

virtual double CDynamixel::presentAcceleration ( ) [inline, virtual]

Get cached acceleration.

Returns:: Acceleration in [rad/s^2].

Implements CDxlGeneric.

Definition at line 156 of file Dynamixel.h.

virtual double CDynamixel::presentAnalog1Voltage ( ) [inline, virtual]

Get cached analog sensor 1 voltage.

Returns:: Sensor voltage in [V].

Implements CDxlGeneric.

Definition at line 162 of file Dynamixel.h.

virtual double CDynamixel::presentAnalog2Voltage ( ) [inline, virtual]

Get cached analog sensor 2 voltage.

Returns:: Sensor voltage in [V].

Implements CDxlGeneric.

Definition at line 163 of file Dynamixel.h.

virtual double CDynamixel::presentAnalog3Voltage ( ) [inline, virtual]

Get cached analog sensor 3 voltage.

Returns:: Sensor voltage in [V].

Implements CDxlGeneric.

Definition at line 164 of file Dynamixel.h.

virtual double CDynamixel::presentAnalog4Voltage ( ) [inline, virtual]

Get cached analog sensor 4 voltage.

Returns:: Sensor voltage in [V].

Implements CDxlGeneric.

Definition at line 165 of file Dynamixel.h.

double CDynamixel::presentAngleLowerLimit ( ) [virtual]

Get cached lower angle limit.

Returns:: Lower angle limit in [rad].

Implements CDxlGeneric.

Definition at line 218 of file Dynamixel.cpp.

double CDynamixel::presentAngleUpperLimit ( ) [virtual]

Get cached upper angle limit.

Returns:: Upper angle limit in [rad].

Implements CDxlGeneric.

Definition at line 226 of file Dynamixel.cpp.

virtual double CDynamixel::presentBusVoltage ( ) [inline, virtual]

Get cached bus voltage.

Returns:: Bus voltage in [V].

Implements CDxlGeneric.

Definition at line 160 of file Dynamixel.h.

virtual WORD CDynamixel::presentCCWAngleLimit ( ) [inline, virtual]

Get cached counter-clockwise angle limit.

Warning:: Ignores the motor's null-angle and direction.

Returns:: Raw counter-clockwise angle limit limit.

Implements CDxlGeneric.

Definition at line 170 of file Dynamixel.h.

virtual double CDynamixel::presentCurrent ( ) [inline, virtual]

Get cached current.

Returns:: Current in [A].

Implements CDxlGeneric.

Definition at line 167 of file Dynamixel.h.

virtual double CDynamixel::presentCurrentADCVoltage ( ) [inline, virtual]

Get cached motor current ADC voltage.

Returns:: ADC voltage in [V].

Implements CDxlGeneric.

Definition at line 161 of file Dynamixel.h.

virtual WORD CDynamixel::presentCWAngleLimit ( ) [inline, virtual]

Get cached clockwise angle limit.

Warning:: Ignores the motor's null-angle and direction.

Returns:: Raw clockwise angle limit limit.

Implements CDxlGeneric.

Definition at line 169 of file Dynamixel.h.

virtual double CDynamixel::presentLinearAcceleration ( ) [inline, virtual]

Get cached linear acceleration.

Returns:: Acceleration in [m/s^2].

Implements CDxlGeneric.

Definition at line 157 of file Dynamixel.h.

virtual double CDynamixel::presentLinearPos ( ) [inline, virtual]

Get cached linear position.

Returns:: Position in [m].

Implements CDxlGeneric.

Definition at line 154 of file Dynamixel.h.

virtual double CDynamixel::presentLoad ( ) [inline, virtual]

Get cached load value.

Returns:: Load in [Nm].

Implements CDxlGeneric.

Definition at line 158 of file Dynamixel.h.

virtual double CDynamixel::presentPos ( ) [inline, virtual]

Get cached position.

Returns:: Position in [rad].

Implements CDxlGeneric.

Definition at line 153 of file Dynamixel.h.

virtual double CDynamixel::presentSpeed ( ) [inline, virtual]

Get cached speed.

Returns:: Speed in [rad/s].

Implements CDxlGeneric.

Definition at line 155 of file Dynamixel.h.

virtual double CDynamixel::presentTemp ( ) [inline, virtual]

Get cached temperature.

Returns:: Temperature in [deg. C].

Implements CDxlGeneric.

Definition at line 166 of file Dynamixel.h.

virtual double CDynamixel::presentTorque ( ) [inline, virtual]

Get cached torque.

Returns:: Torque in [Nm].

Implements CDxlGeneric.

Definition at line 168 of file Dynamixel.h.

virtual double CDynamixel::presentVoltage ( ) [inline, virtual]

Get cached motor voltage.

Returns:: Motor voltage in [V].

Implements CDxlGeneric.

Definition at line 159 of file Dynamixel.h.

int CDynamixel::printReport ( FILE * fOut ) [virtual]

Report on this Dynamixel.

Reads out the motor's complete control table.

Parameters:

fOut	Output file.

Reimplemented from CDxlGeneric.

Definition at line 718 of file Dynamixel.cpp.

int CDynamixel::round ( double val ) [inline, protected]

Definition at line 92 of file Dynamixel.h.

int CDynamixel::setAlarmLEDMask ( const BYTE mask ) [virtual]

Set which conditions cause the alarm LED to blink.

mask Condition mask. See Dynamixel documentation.

Reimplemented from CDxlGeneric.

Definition at line 678 of file Dynamixel.cpp.

int CDynamixel::setAlarmShutdownMask ( const BYTE mask ) [virtual]

Set which conditions trigger a shutdown.

mask Condition mask. See Dynamixel documentation.

Reimplemented from CDxlGeneric.

Definition at line 687 of file Dynamixel.cpp.

int CDynamixel::setAngleLimits	(	double	lowerLimit,
		double	upperLimit
	)		`[virtual]`

Set angle limits.

Parameters:

lowerLimit	Lower angle limit in [rad].
upperLimit	Upper angle limit in [rad].

Reimplemented from CDxlGeneric.

Definition at line 600 of file Dynamixel.cpp.

int CDynamixel::setAngleLowerLimit ( double limit ) [virtual]

Set lower angle limit.

Parameters:

limit Lower angle limit in [rad].

Reimplemented from CDxlGeneric.

Definition at line 532 of file Dynamixel.cpp.

int CDynamixel::setAngleUpperLimit ( double limit ) [virtual]

Set upper angle limit.

Parameters:

limit Upper angle limit in [rad].

Reimplemented from CDxlGeneric.

Definition at line 547 of file Dynamixel.cpp.

int CDynamixel::setBaudRate ( const int baudRate ) [virtual]

Set baud rate in bits/s.

Parameters:

baudRate Baudrate in [bit/s].

Reimplemented from CDxlGeneric.

Definition at line 470 of file Dynamixel.cpp.

int CDynamixel::setBaudRateIndex ( const BYTE baudRateIndex ) [virtual]

Set baud rate in Dynamixel units.

Parameters:

baudRateIndex Baudrate in Dynamixel BPS unit. [bits/s] = 2000000/(baudRateIndex+1).

Reimplemented from CDxlGeneric.

Definition at line 461 of file Dynamixel.cpp.

int CDynamixel::setCompliance	(	BYTE	complianceMargin,
		BYTE	complianceSlope
	)		`[virtual]`

Set control flexibility.

Warning:: Uses Dynamixel internal units.

Parameters:

complianceMargin	Maximum error between goal position and present position in Dynamixel units.
complianceSlope	Level of Torque near the goal position. Used value = `2^complianceSlope`.

Reimplemented from CDxlGeneric.

Definition at line 696 of file Dynamixel.cpp.

void CDynamixel::setConfig ( CDxlConfig * config ) [virtual]

Set motor configuration.

The configuration is written to the motor during init().

Warning:: After init(), the fields of mConfig are not guaranteed to be up to date anymore!

1.0

Reimplemented from CDxlGeneric.

Definition at line 47 of file Dynamixel.cpp.

int CDynamixel::setEndlessTurnMode	(	bool	enabled,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Endless turn mode ('wheel mode').

Calling setEndlessTurnMode(false) will restore angle limits.

Warning:: In this mode, there is no speed control! For safety, before enabling this mode, set the endlessTurnTorque() to zero first to avoid unwanted movements!

Parameters:

enabled	State.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 623 of file Dynamixel.cpp.

int CDynamixel::setEndlessTurnTorque	(	double	torqueRatio,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Torque to apply in endless turn mode.

Parameters:

torqueRatio	Torque as fraction of maximum possible torque.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 653 of file Dynamixel.cpp.

int CDynamixel::setInitialTorqueLimit ( double absMaxTorque ) [virtual]

Set initial torque limit (EEPROM).

This value is copied to ram during power-on.

Parameters:

absMaxTorque Torque limi as fraction of maximum possible torque.

Reimplemented from CDxlGeneric.

Definition at line 514 of file Dynamixel.cpp.

void CDynamixel::setNullAngle ( double nullAngle ) [virtual]

Set null angle convention.

Parameters:

nullAngle Null angle in [rad]

Reimplemented from CDxlGeneric.

Definition at line 119 of file Dynamixel.cpp.

int CDynamixel::setOperatingMode ( const BYTE mode ) [virtual]

Undocumented.

mode Undocumented.

Reimplemented from CDxlGeneric.

Definition at line 669 of file Dynamixel.cpp.

int CDynamixel::setPos	(	double	pos,
		double	absSpeed,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Set reference position and velocity.

Parameters:

pos	Position in [rad]
absSpeed	Speed in [rad/s]. Speed is absolute (positive in either direction). 0 speed means slowest. Negative speed means: MAXIMUM speed.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 415 of file Dynamixel.cpp.

void CDynamixel::setPositiveDirection ( bool clockwiseIsPositive ) [virtual]

Set direction convention.

Parameters:

clockwiseIsPositive True if clockwise direction is positive

Reimplemented from CDxlGeneric.

Definition at line 111 of file Dynamixel.cpp.

int CDynamixel::setPunch ( WORD punch ) [virtual]

Unused.

Parameters:

punch Unused.

Reimplemented from CDxlGeneric.

Definition at line 709 of file Dynamixel.cpp.

int CDynamixel::setRetlevel ( const int returnlevel ) [virtual]

Set status return level.

Parameters:

returnlevel

Return status packet on

0 PING
1 PING+READ
2 all commands

Reimplemented from CDxlGeneric.

Definition at line 450 of file Dynamixel.cpp.

int CDynamixel::setReturnDelayTime ( const int microsecondsReturnDelay ) [virtual]

Set return delay.

Delay between transmission of Instruction Packet until the return of Status Packet.

Parameters:

microsecondsReturnDelay Return delay in [us].

Reimplemented from CDxlGeneric.

Definition at line 479 of file Dynamixel.cpp.

void CDynamixel::setSerialPort ( LxSerial * serialPort ) [virtual]

Set serial port.

serialPort Serial port.

Reimplemented from CDxlGeneric.

Definition at line 106 of file Dynamixel.cpp.

int CDynamixel::setSpeed	(	double	speed,
		bool	shouldSyncWrite = `false`
	)		`[virtual]`

Move to angle limit with reference speed.

Warning:: Does not actually implement velocity control! The dynamixel generates a reference trajectory!

Parameters:

speed	Speed in [rad/s]. Speed can be positive or negative.
shouldSyncWrite	Accumulate data instead of sending immediately.

Reimplemented from CDxlGeneric.

Definition at line 429 of file Dynamixel.cpp.

int CDynamixel::setTemperatureLimit ( const int maxTemp ) [virtual]

Set temperature limit.

Parameters:

maxTemp Maximum temperature in [deg. C].

Reimplemented from CDxlGeneric.

Definition at line 562 of file Dynamixel.cpp.

int CDynamixel::setTorqueLimit ( double absMaxTorque ) [virtual]

Set operational torque limit (RAM).

Parameters:

absMaxTorque Torque limit as fraction of maximum possible torque.

Reimplemented from CDxlGeneric.

Definition at line 523 of file Dynamixel.cpp.

int CDynamixel::setVoltageLimits	(	double	minVoltage,
		double	maxVoltage
	)		`[virtual]`

Set voltage limits.

Parameters:

minVoltage	Minimum voltage in [V].
maxVoltage	Maximum voltage in [V].

Reimplemented from CDxlGeneric.

Definition at line 571 of file Dynamixel.cpp.

Member Data Documentation

double CDynamixel::mAngleLUT[DXL_NUM_POSITIONS] [protected]

Definition at line 58 of file Dynamixel.h.

WORD CDynamixel::mCCWAngleLimit [protected]

Counter-clockwise angle limit.

See also:: mCWAngleLimit.

Definition at line 78 of file Dynamixel.h.

CDxlConfig CDynamixel::mConfig [protected]

Definition at line 57 of file Dynamixel.h.

WORD CDynamixel::mCWAngleLimit [protected]

Clockwise angle limit.

Angle limits are NOT saved in SI units but as Dynamixel WORD values, because we want to use the exact CWAngleLimit and CCWAngleLimit in setSpeed() as they are present in the control table of the Dynamixel (also as WORD values). Otherwise, we may set a slightly larger or smaller goal position in setSpeed() and encounter an angle limit error. Then setSpeed() would fail completely.

Definition at line 77 of file Dynamixel.h.

double CDynamixel::mDirection [protected]

Should be either 1.0 or -1.0 and is used as internal multiplication factor!

Definition at line 59 of file Dynamixel.h.

bool CDynamixel::mEndlessTurnMode [protected]

Virtual state.

Definition at line 80 of file Dynamixel.h.

double CDynamixel::mLoad [protected]

Current load expressed as a ratio of the maximum torque [dimensionless].

Definition at line 65 of file Dynamixel.h.

CLog2 CDynamixel::mLog [protected]

Reimplemented from CDxlGeneric.