dxl::DxlInterface Class Reference

#include <dxl_interface.h>

Public Types
enum	PortState { PORT_FAIL, BAUDRATE_FAIL, INVALID_PROTOCOL, SUCCESS }

Public Member Functions
bool	broadcastPing (std::vector< uint8_t > result_vec, uint16_t protocol)
bool	bulkWritePosition (std::vector< motor > &motors)
bool	bulkWriteVelocity (std::vector< motor > &motors)
	DxlInterface ()
PortState	openPort (std::string port_name, unsigned int baudrate, float protocol)
bool	ping (motor &motor)
bool	readMotorsError (std::vector< motor > &motors)
bool	readMotorsLoad (std::vector< motor > &motors)
bool	readMotorsPos (std::vector< motor > &motors)
bool	readMotorsVel (std::vector< motor > &motors)
bool	reboot (const motor &motor)
bool	setMotorsLed (std::vector< dxl::motor > &motors, const led_color &color)
bool	setTorque (motor &motor, bool flag)
	~DxlInterface ()

Private Member Functions
bool	loadProtocol (uint16_t protocol)

Private Attributes
dynamixel::PacketHandler *	pkt_handler_
dynamixel::PortHandler *	port_handler_
float	protocol_

Detailed Description

Definition at line 116 of file dxl_interface.h.

Member Enumeration Documentation

enum dxl::DxlInterface::PortState

Enumerator
PORT_FAIL
BAUDRATE_FAIL
INVALID_PROTOCOL
SUCCESS

Definition at line 128 of file dxl_interface.h.

Constructor & Destructor Documentation

dxl::DxlInterface::DxlInterface

(

)

Definition at line 10 of file dxl_interface.cpp.

dxl::DxlInterface::~DxlInterface

(

)

Definition at line 109 of file dxl_interface.cpp.

Member Function Documentation

bool dxl::DxlInterface::broadcastPing	(	std::vector< uint8_t >	result_vec,
		uint16_t	protocol
	)

Definition at line 99 of file dxl_interface.cpp.

bool dxl::DxlInterface::bulkWritePosition

(

std::vector< motor > &

motors

)

Definition at line 303 of file dxl_interface.cpp.

bool dxl::DxlInterface::bulkWriteVelocity

(

std::vector< motor > &

motors

)

Definition at line 260 of file dxl_interface.cpp.

bool dxl::DxlInterface::loadProtocol ( uint16_t  protocol )

private

Definition at line 34 of file dxl_interface.cpp.

DxlInterface::PortState dxl::DxlInterface::openPort	(	std::string	port_name,
		unsigned int	baudrate,
		float	protocol
	)

Definition at line 15 of file dxl_interface.cpp.

bool dxl::DxlInterface::ping

(

dxl::motor &

motor

)

Definition at line 50 of file dxl_interface.cpp.

bool dxl::DxlInterface::readMotorsError

(

std::vector< motor > &

motors

)

Definition at line 189 of file dxl_interface.cpp.

bool dxl::DxlInterface::readMotorsLoad

(

std::vector< motor > &

motors

)

Definition at line 223 of file dxl_interface.cpp.

bool dxl::DxlInterface::readMotorsPos

(

std::vector< motor > &

motors

)

Definition at line 114 of file dxl_interface.cpp.

bool dxl::DxlInterface::readMotorsVel

(

std::vector< motor > &

motors

)

Definition at line 153 of file dxl_interface.cpp.

bool dxl::DxlInterface::reboot

(

const motor &

motor

)

Definition at line 84 of file dxl_interface.cpp.

bool dxl::DxlInterface::setMotorsLed	(	std::vector< dxl::motor > &	motors,
		const led_color &	color
	)

Definition at line 329 of file dxl_interface.cpp.

bool dxl::DxlInterface::setTorque	(	dxl::motor &	motor,
		bool	flag
	)

Definition at line 66 of file dxl_interface.cpp.

Member Data Documentation

dynamixel::PacketHandler* dxl::DxlInterface::pkt_handler_

private

Definition at line 120 of file dxl_interface.h.

dynamixel::PortHandler* dxl::DxlInterface::port_handler_

private

Definition at line 121 of file dxl_interface.h.

float dxl::DxlInterface::protocol_

private

Definition at line 122 of file dxl_interface.h.

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The documentation for this class was generated from the following files:

• dxl_interface.h
• dxl_interface.cpp