#include <stdio.h>#include <string.h>#include <unistd.h>#include <errno.h>#include <sys/time.h>#include <threemxl/platform/hardware/serial/LxSerial.h>#include "CDxlPacket.hpp"#include <threemxl/platform/io/logging/Log2.h>
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Define Documentation
| #define DXL_ALREADY_INITIALIZED -9006 |
| #define DXL_CHECKSUM_ERROR 0x10 |
| #define DXL_INVALID_PARAMETER -9009 |
| #define DXL_NO_SERIAL_PORT -9008 |
| #define DXL_NOT_INITIALIZED -9007 |
| #define DXL_PKT_RECV_CHECKSUM_ERR -9002 |
| #define DXL_PKT_RECV_ERROR -9001 |
| #define DXL_PKT_RECV_ID_ERR -9004 |
| #define DXL_PKT_RECV_LENGTH_ERR -9003 |
| #define DXL_PKT_RECV_TIMEOUT (-ETIMEDOUT) |
| #define DXL_PKT_RECV_WAIT_TIME_SEC 0 |
| #define DXL_PKT_RECV_WAIT_TIME_USEC 100000 |
| #define DXL_PKT_SEND_ERROR -9101 |
| #define DXL_PKT_SEND_LENGTH_ERR -9102 |
| #define DXL_SUCCESS 0 |
| #define INST_ACTION 0x05 |
| #define INST_DIGITAL_RESET 0x07 |
| #define INST_REG_WRITE 0x04 |
| #define INST_RESET 0x06 |
| #define INST_SYNC_REG_WRITE 0x84 |
| #define INST_SYNC_WRITE 0x83 |
| #define INST_SYSTEM_READ 0x0C |
| #define INST_SYSTEM_WRITE 0x0D |
| #define INST_WRITE 0x03 |
| #define M3XL_ANGLE_LIMIT_ERROR 0b00000010 |
| #define M3XL_CHECKSUM_ERROR 0b00010000 |
| #define M3XL_INPUT_VOLTAGE_ERROR 0b00000001 |
| #define M3XL_INSTRUCTION_ERROR 0b01000000 |
| #define M3XL_NO_ERROR 0b00000000 |
| #define M3XL_OVERHEATING_ERROR 0b00000100 |
| #define M3XL_OVERLOAD_ERROR 0b00100000 |
| #define M3XL_RANGE_ERROR 0b00001000 |
| #define M3XL_STATUS_EEPROM_ERROR 0x80 |
| #define M3XL_STATUS_EM_STOP_ERROR 0x82 |
| #define M3XL_STATUS_INIT_TIME_OUT_ERROR 0x83 |
| #define M3XL_STATUS_JOINT_STUCK_ERROR 0x88 |
| #define M3XL_STATUS_MAX_CURRENT_ERROR 0x86 |
| #define M3XL_STATUS_MAX_POS_ERROR 0x84 |
| #define M3XL_STATUS_MAX_TORQUE_ERROR 0x85 |
| #define M3XL_STATUS_MOTOR_STUCK_ERROR 0x87 |
| #define M3XL_STATUS_NOT_INITIALIZED 0x81 |
| #define M3XL_STATUS_PROTOCOL_TIME_OUT_ERROR 0x89 |
| #define MAX_NUM_DYNAMIXELS 254 |
| #define RECEIVE_RETRY_FACTOR 0 |
| #define SEND_RETRY_FACTOR 1 |