armadillo2_hardware_interface.h File Reference

#include <unistd.h>
#include <fcntl.h>
#include <getopt.h>
#include <termios.h>
#include <cmath>
#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <string>
#include <vector>
#include <time.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
#include <controller_manager/controller_manager.h>
#include <hardware_interface/posvel_command_interface.h>
#include "dynamixel_sdk/dynamixel_sdk.h"
#include <ros/package.h>
#include "yaml-cpp/yaml.h"
#include <ros/ros.h>
#include <robotican_hardware_interface/Device.h>
#include <robotican_hardware_interface/RiCBoardManager.h>

Include dependency graph for armadillo2_hardware_interface.h:

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Go to the source code of this file.

Classes
struct	dynamixel_spec
struct	motor
Defines
#define	ADDR_MX_GOAL_POSITION   116
#define	ADDR_MX_HARDWARE_ERROR   70
#define	ADDR_MX_MODEL_NUM   30
#define	ADDR_MX_MOVING   122
#define	ADDR_MX_PRESENT_LOAD   126
#define	ADDR_MX_PRESENT_POSITION   132
#define	ADDR_MX_PRESENT_SPEED   128
#define	ADDR_MX_PRESENT_TEMPERATURE   146
#define	ADDR_MX_PROFILE_VELOCITY   112
#define	ADDR_MX_TORQUE_ENABLE   64
#define	ADDR_PRO_GOAL_ACCELERATION   606
#define	ADDR_PRO_GOAL_POSITION   596
#define	ADDR_PRO_GOAL_SPEED   600
#define	ADDR_PRO_HARDWARE_ERROR   892
#define	ADDR_PRO_MODEL_NUM   0
#define	ADDR_PRO_MOVING   46
#define	ADDR_PRO_PRESENT_CURRENT   621
#define	ADDR_PRO_PRESENT_POSITION   611
#define	ADDR_PRO_PRESENT_SPEED   615
#define	ADDR_PRO_PRESENT_TEMPERATURE   43
#define	ADDR_PRO_TORQUE_ENABLE   562
#define	ADDR_XH_GOAL_ACCELERATION   40
#define	ADDR_XH_GOAL_POSITION   116
#define	ADDR_XH_GOAL_SPEED   104
#define	ADDR_XH_HARDWARE_ERROR   70
#define	ADDR_XH_MODEL_NUM   1040
#define	ADDR_XH_MOVING   123
#define	ADDR_XH_PRESENT_CURRENT   126
#define	ADDR_XH_PRESENT_POSITION   132
#define	ADDR_XH_PRESENT_SPEED   128
#define	ADDR_XH_PRESENT_TEMPERATURE   146
#define	ADDR_XH_PROFILE_VELOCITY   112
#define	ADDR_XH_TORQUE_ENABLE   64
#define	ADDR_XH_VELOCITY_LIMIT   44
#define	PROTOCOL_VERSION1   1.0
#define	PROTOCOL_VERSION2   2.0

---

Define Documentation

#define ADDR_MX_GOAL_POSITION   116

Definition at line 52 of file armadillo2_hardware_interface.h.

#define ADDR_MX_HARDWARE_ERROR   70

Definition at line 59 of file armadillo2_hardware_interface.h.

#define ADDR_MX_MODEL_NUM   30

Definition at line 50 of file armadillo2_hardware_interface.h.

#define ADDR_MX_MOVING   122

Definition at line 58 of file armadillo2_hardware_interface.h.

#define ADDR_MX_PRESENT_LOAD   126

Definition at line 56 of file armadillo2_hardware_interface.h.

#define ADDR_MX_PRESENT_POSITION   132

Definition at line 54 of file armadillo2_hardware_interface.h.

#define ADDR_MX_PRESENT_SPEED   128

Definition at line 55 of file armadillo2_hardware_interface.h.

#define ADDR_MX_PRESENT_TEMPERATURE   146

Definition at line 57 of file armadillo2_hardware_interface.h.

#define ADDR_MX_PROFILE_VELOCITY   112

Definition at line 53 of file armadillo2_hardware_interface.h.

#define ADDR_MX_TORQUE_ENABLE   64

Definition at line 51 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_GOAL_ACCELERATION   606

Definition at line 66 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_GOAL_POSITION   596

Definition at line 64 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_GOAL_SPEED   600

Definition at line 65 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_HARDWARE_ERROR   892

Definition at line 72 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_MODEL_NUM   0

Definition at line 62 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_MOVING   46

Definition at line 71 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_PRESENT_CURRENT   621

Definition at line 69 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_PRESENT_POSITION   611

Definition at line 67 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_PRESENT_SPEED   615

Definition at line 68 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_PRESENT_TEMPERATURE   43

Definition at line 70 of file armadillo2_hardware_interface.h.

#define ADDR_PRO_TORQUE_ENABLE   562

Definition at line 63 of file armadillo2_hardware_interface.h.

#define ADDR_XH_GOAL_ACCELERATION   40

Definition at line 82 of file armadillo2_hardware_interface.h.

#define ADDR_XH_GOAL_POSITION   116

Definition at line 78 of file armadillo2_hardware_interface.h.

#define ADDR_XH_GOAL_SPEED   104

Definition at line 79 of file armadillo2_hardware_interface.h.

#define ADDR_XH_HARDWARE_ERROR   70

Definition at line 88 of file armadillo2_hardware_interface.h.

#define ADDR_XH_MODEL_NUM   1040

Definition at line 76 of file armadillo2_hardware_interface.h.

#define ADDR_XH_MOVING   123

Definition at line 87 of file armadillo2_hardware_interface.h.

#define ADDR_XH_PRESENT_CURRENT   126

Definition at line 85 of file armadillo2_hardware_interface.h.

#define ADDR_XH_PRESENT_POSITION   132

Definition at line 83 of file armadillo2_hardware_interface.h.

#define ADDR_XH_PRESENT_SPEED   128

Definition at line 84 of file armadillo2_hardware_interface.h.

#define ADDR_XH_PRESENT_TEMPERATURE   146

Definition at line 86 of file armadillo2_hardware_interface.h.

#define ADDR_XH_PROFILE_VELOCITY   112

Definition at line 81 of file armadillo2_hardware_interface.h.

#define ADDR_XH_TORQUE_ENABLE   64

Definition at line 77 of file armadillo2_hardware_interface.h.

#define ADDR_XH_VELOCITY_LIMIT   44

Definition at line 80 of file armadillo2_hardware_interface.h.

#define PROTOCOL_VERSION1   1.0

Definition at line 91 of file armadillo2_hardware_interface.h.

#define PROTOCOL_VERSION2   2.0

Definition at line 92 of file armadillo2_hardware_interface.h.