Classes | Defines | Functions | Variables
ping.cpp File Reference
#include <stdio.h>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <dynamixel_sdk/dynamixel_sdk.h>
#include "robotican_hardware_interface/dynamixel_driver.h"
#include <ros/package.h>
#include "yaml-cpp/yaml.h"
Include dependency graph for ping.cpp:

Go to the source code of this file.

Classes

struct  dynamixel_spec
struct  motor

Defines

#define BAUDRATE   57600
#define DEVICENAME   "/dev/ttyUSB0"
#define PROTOCOL_VERSION   2.0

Functions

bool bulk_read ()
bool bulk_write ()
void CmdCallback (const sensor_msgs::JointStateConstPtr &msg)
int getch ()
void initSpecFile ()
int kbhit (void)
int main (int argc, char **argv)
bool ping (struct motor &motor)
int32_t rads2ticks (double rads, struct motor &motor)
bool setTorque (struct motor &motor, bool onoff)
double ticks2rads (int32_t ticks, struct motor &motor)

Variables

std::map< uint16_t,
dynamixel_spec
_modelSpec
struct motormotors
int num_motors = 0
dynamixel::PacketHandlerpacketHandler
dynamixel::PortHandlerportHandler

Define Documentation

#define BAUDRATE   57600

Definition at line 43 of file ping.cpp.

#define DEVICENAME   "/dev/ttyUSB0"

Definition at line 44 of file ping.cpp.

#define PROTOCOL_VERSION   2.0

Definition at line 39 of file ping.cpp.


Function Documentation

bool bulk_read ( )

Definition at line 206 of file ping.cpp.

bool bulk_write ( )

Definition at line 169 of file ping.cpp.

void CmdCallback ( const sensor_msgs::JointStateConstPtr &  msg)

Definition at line 308 of file ping.cpp.

int getch ( )

Definition at line 98 of file ping.cpp.

void initSpecFile ( )

Definition at line 71 of file ping.cpp.

int kbhit ( void  )

Definition at line 115 of file ping.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 319 of file ping.cpp.

bool ping ( struct motor motor)

Definition at line 256 of file ping.cpp.

int32_t rads2ticks ( double  rads,
struct motor motor 
)
bool setTorque ( struct motor motor,
bool  onoff 
)

Definition at line 147 of file ping.cpp.

double ticks2rads ( int32_t  ticks,
struct motor motor 
)

Variable Documentation

std::map<uint16_t, dynamixel_spec> _modelSpec

Definition at line 69 of file ping.cpp.

struct motor* motors

Definition at line 59 of file ping.cpp.

int num_motors = 0

Definition at line 60 of file ping.cpp.

Definition at line 25 of file ping.cpp.

Definition at line 24 of file ping.cpp.



robotican_hardware_interface
Author(s):
autogenerated on Fri Oct 27 2017 03:02:48