DxlClassFactory.hpp

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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

#include "CDxlGeneric.h"
#include "dynamixel/Dynamixel.h"
#include "3mxl/3mxl.h"

CDxlGeneric* gDxlCreate(const std::string& dxlTypeStr)
{
        CDxlGeneric* newDxl = NULL;

        if (dxlTypeStr == "Robotis_RXxx")
                newDxl = new CDynamixel();
        else if (dxlTypeStr == "3MXL")
                newDxl = new C3mxl();
        else
          printf("[gDxlCreate] Unknown servo type \"%s\"!\n", dxlTypeStr.c_str());

        return newDxl;
}