#include <dynamixel_driver.h>
Public Member Functions | |
bool | addBulkReadParam (uint8_t id, uint16_t address, uint16_t length, const char **log=NULL) |
bool | addBulkReadParam (uint8_t id, const char *item_name, const char **log=NULL) |
bool | addBulkWriteParam (uint8_t id, uint16_t address, uint16_t length, int32_t data, const char **log=NULL) |
bool | addBulkWriteParam (uint8_t id, const char *item_name, int32_t data, const char **log=NULL) |
bool | addSyncReadHandler (uint16_t address, uint16_t length, const char **log=NULL) |
bool | addSyncReadHandler (uint8_t id, const char *item_name, const char **log=NULL) |
bool | addSyncWriteHandler (uint16_t address, uint16_t length, const char **log=NULL) |
bool | addSyncWriteHandler (uint8_t id, const char *item_name, const char **log=NULL) |
bool | begin (const char *device_name="/dev/ttyUSB0", uint32_t baud_rate=57600, const char **log=NULL) |
bool | bulkRead (const char **log=NULL) |
bool | bulkWrite (const char **log=NULL) |
bool | clearBulkReadParam (void) |
bool | clearMultiTurn (uint8_t id, const char **log=NULL) |
DynamixelDriver () | |
uint32_t | getBaudrate (void) |
bool | getBulkReadData (int32_t *data, const char **log=NULL) |
bool | getBulkReadData (uint8_t *id, uint8_t id_num, uint16_t *address, uint16_t *length, int32_t *data, const char **log=NULL) |
const ControlItem * | getControlTable (uint8_t id, const char **log=NULL) |
const ControlItem * | getItemInfo (uint8_t id, const char *item_name, const char **log=NULL) |
const ModelInfo * | getModelInfo (uint8_t id, const char **log=NULL) |
const char * | getModelName (uint8_t id, const char **log=NULL) |
uint16_t | getModelNumber (uint8_t id, const char **log=NULL) |
void | getParam (int32_t data, uint8_t *param) |
float | getProtocolVersion (void) |
bool | getSyncReadData (uint8_t index, int32_t *data, const char **log=NULL) |
bool | getSyncReadData (uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, const char **log=NULL) |
bool | getSyncReadData (uint8_t index, uint8_t *id, uint8_t id_num, uint16_t address, uint16_t length, int32_t *data, const char **log=NULL) |
uint8_t | getTheNumberOfBulkReadParam (void) |
uint8_t | getTheNumberOfControlItem (uint8_t id, const char **log=NULL) |
uint8_t | getTheNumberOfSyncReadHandler (void) |
uint8_t | getTheNumberOfSyncWriteHandler (void) |
bool | init (const char *device_name="/dev/ttyUSB0", uint32_t baud_rate=57600, const char **log=NULL) |
bool | initBulkRead (const char **log=NULL) |
bool | initBulkWrite (const char **log=NULL) |
bool | ping (uint8_t id, uint16_t *get_model_number, const char **log=NULL) |
bool | ping (uint8_t id, const char **log=NULL) |
bool | readRegister (uint8_t id, uint16_t address, uint16_t length, uint32_t *data, const char **log=NULL) |
bool | readRegister (uint8_t id, const char *item_name, int32_t *data, const char **log=NULL) |
bool | reboot (uint8_t id, const char **log=NULL) |
bool | reset (uint8_t id, const char **log=NULL) |
bool | scan (uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t range=253, const char **log=NULL) |
bool | scan (uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t start_number, uint8_t end_number, const char **log=NULL) |
bool | setBaudrate (uint32_t baud_rate, const char **log=NULL) |
bool | setPacketHandler (float protocol_version, const char **log=NULL) |
bool | setPortHandler (const char *device_name, const char **log=NULL) |
bool | syncRead (uint8_t index, const char **log=NULL) |
bool | syncRead (uint8_t index, uint8_t *id, uint8_t id_num, const char **log=NULL) |
bool | syncWrite (uint8_t index, int32_t *data, const char **log=NULL) |
bool | syncWrite (uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, uint8_t data_num_for_each_id, const char **log=NULL) |
bool | writeOnlyRegister (uint8_t id, uint16_t address, uint16_t length, uint8_t *data, const char **log=NULL) |
bool | writeOnlyRegister (uint8_t id, const char *item_name, int32_t data, const char **log=NULL) |
bool | writeRegister (uint8_t id, uint16_t address, uint16_t length, uint8_t *data, const char **log=NULL) |
bool | writeRegister (uint8_t id, const char *item_name, int32_t data, const char **log=NULL) |
~DynamixelDriver () | |
Private Member Functions | |
uint8_t | getTool (uint8_t id, const char **log=NULL) |
void | initTools (void) |
bool | setTool (uint16_t model_number, uint8_t id, const char **log=NULL) |
Definition at line 63 of file dynamixel_driver.h.
DynamixelDriver::DynamixelDriver | ( | ) |
Definition at line 21 of file dynamixel_driver.cpp.
DynamixelDriver::~DynamixelDriver | ( | ) |
Definition at line 29 of file dynamixel_driver.cpp.
bool DynamixelDriver::addBulkReadParam | ( | uint8_t | id, |
uint16_t | address, | ||
uint16_t | length, | ||
const char ** | log = NULL |
||
) |
Definition at line 1343 of file dynamixel_driver.cpp.
bool DynamixelDriver::addBulkReadParam | ( | uint8_t | id, |
const char * | item_name, | ||
const char ** | log = NULL |
||
) |
Definition at line 1373 of file dynamixel_driver.cpp.
bool DynamixelDriver::addBulkWriteParam | ( | uint8_t | id, |
uint16_t | address, | ||
uint16_t | length, | ||
int32_t | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 1254 of file dynamixel_driver.cpp.
bool DynamixelDriver::addBulkWriteParam | ( | uint8_t | id, |
const char * | item_name, | ||
int32_t | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 1275 of file dynamixel_driver.cpp.
bool DynamixelDriver::addSyncReadHandler | ( | uint16_t | address, |
uint16_t | length, | ||
const char ** | log = NULL |
||
) |
Definition at line 1047 of file dynamixel_driver.cpp.
bool DynamixelDriver::addSyncReadHandler | ( | uint8_t | id, |
const char * | item_name, | ||
const char ** | log = NULL |
||
) |
Definition at line 1068 of file dynamixel_driver.cpp.
bool DynamixelDriver::addSyncWriteHandler | ( | uint16_t | address, |
uint16_t | length, | ||
const char ** | log = NULL |
||
) |
Definition at line 921 of file dynamixel_driver.cpp.
bool DynamixelDriver::addSyncWriteHandler | ( | uint8_t | id, |
const char * | item_name, | ||
const char ** | log = NULL |
||
) |
Definition at line 942 of file dynamixel_driver.cpp.
bool DynamixelDriver::begin | ( | const char * | device_name = "/dev/ttyUSB0" , |
uint32_t | baud_rate = 57600 , |
||
const char ** | log = NULL |
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) |
Definition at line 122 of file dynamixel_driver.cpp.
bool DynamixelDriver::bulkRead | ( | const char ** | log = NULL | ) |
Definition at line 1411 of file dynamixel_driver.cpp.
bool DynamixelDriver::bulkWrite | ( | const char ** | log = NULL | ) |
Definition at line 1304 of file dynamixel_driver.cpp.
bool DynamixelDriver::clearBulkReadParam | ( | void | ) |
Definition at line 1478 of file dynamixel_driver.cpp.
bool DynamixelDriver::clearMultiTurn | ( | uint8_t | id, |
const char ** | log = NULL |
||
) |
Definition at line 387 of file dynamixel_driver.cpp.
uint32_t DynamixelDriver::getBaudrate | ( | void | ) |
Definition at line 172 of file dynamixel_driver.cpp.
bool DynamixelDriver::getBulkReadData | ( | int32_t * | data, |
const char ** | log = NULL |
||
) |
Definition at line 1426 of file dynamixel_driver.cpp.
bool DynamixelDriver::getBulkReadData | ( | uint8_t * | id, |
uint8_t | id_num, | ||
uint16_t * | address, | ||
uint16_t * | length, | ||
int32_t * | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 1452 of file dynamixel_driver.cpp.
const ControlItem * DynamixelDriver::getControlTable | ( | uint8_t | id, |
const char ** | log = NULL |
||
) |
Definition at line 202 of file dynamixel_driver.cpp.
const ControlItem * DynamixelDriver::getItemInfo | ( | uint8_t | id, |
const char * | item_name, | ||
const char ** | log = NULL |
||
) |
Definition at line 210 of file dynamixel_driver.cpp.
const ModelInfo * DynamixelDriver::getModelInfo | ( | uint8_t | id, |
const char ** | log = NULL |
||
) |
Definition at line 232 of file dynamixel_driver.cpp.
const char * DynamixelDriver::getModelName | ( | uint8_t | id, |
const char ** | log = NULL |
||
) |
Definition at line 177 of file dynamixel_driver.cpp.
uint16_t DynamixelDriver::getModelNumber | ( | uint8_t | id, |
const char ** | log = NULL |
||
) |
Definition at line 188 of file dynamixel_driver.cpp.
void DynamixelDriver::getParam | ( | int32_t | data, |
uint8_t * | param | ||
) |
Definition at line 913 of file dynamixel_driver.cpp.
float DynamixelDriver::getProtocolVersion | ( | void | ) |
Definition at line 167 of file dynamixel_driver.cpp.
bool DynamixelDriver::getSyncReadData | ( | uint8_t | index, |
int32_t * | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 1152 of file dynamixel_driver.cpp.
bool DynamixelDriver::getSyncReadData | ( | uint8_t | index, |
uint8_t * | id, | ||
uint8_t | id_num, | ||
int32_t * | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 1181 of file dynamixel_driver.cpp.
bool DynamixelDriver::getSyncReadData | ( | uint8_t | index, |
uint8_t * | id, | ||
uint8_t | id_num, | ||
uint16_t | address, | ||
uint16_t | length, | ||
int32_t * | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 1207 of file dynamixel_driver.cpp.
uint8_t DynamixelDriver::getTheNumberOfBulkReadParam | ( | void | ) |
Definition at line 250 of file dynamixel_driver.cpp.
uint8_t DynamixelDriver::getTheNumberOfControlItem | ( | uint8_t | id, |
const char ** | log = NULL |
||
) |
Definition at line 224 of file dynamixel_driver.cpp.
uint8_t DynamixelDriver::getTheNumberOfSyncReadHandler | ( | void | ) |
Definition at line 245 of file dynamixel_driver.cpp.
uint8_t DynamixelDriver::getTheNumberOfSyncWriteHandler | ( | void | ) |
Definition at line 240 of file dynamixel_driver.cpp.
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private |
Definition at line 89 of file dynamixel_driver.cpp.
bool DynamixelDriver::init | ( | const char * | device_name = "/dev/ttyUSB0" , |
uint32_t | baud_rate = 57600 , |
||
const char ** | log = NULL |
||
) |
Definition at line 106 of file dynamixel_driver.cpp.
bool DynamixelDriver::initBulkRead | ( | const char ** | log = NULL | ) |
Definition at line 1321 of file dynamixel_driver.cpp.
bool DynamixelDriver::initBulkWrite | ( | const char ** | log = NULL | ) |
Definition at line 1233 of file dynamixel_driver.cpp.
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private |
Definition at line 42 of file dynamixel_driver.cpp.
bool DynamixelDriver::ping | ( | uint8_t | id, |
uint16_t * | get_model_number, | ||
const char ** | log = NULL |
||
) |
Definition at line 334 of file dynamixel_driver.cpp.
bool DynamixelDriver::ping | ( | uint8_t | id, |
const char ** | log = NULL |
||
) |
Definition at line 382 of file dynamixel_driver.cpp.
bool DynamixelDriver::readRegister | ( | uint8_t | id, |
uint16_t | address, | ||
uint16_t | length, | ||
uint32_t * | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 772 of file dynamixel_driver.cpp.
bool DynamixelDriver::readRegister | ( | uint8_t | id, |
const char * | item_name, | ||
int32_t * | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 824 of file dynamixel_driver.cpp.
bool DynamixelDriver::reboot | ( | uint8_t | id, |
const char ** | log = NULL |
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) |
Definition at line 411 of file dynamixel_driver.cpp.
bool DynamixelDriver::reset | ( | uint8_t | id, |
const char ** | log = NULL |
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) |
Definition at line 449 of file dynamixel_driver.cpp.
bool DynamixelDriver::scan | ( | uint8_t * | get_id, |
uint8_t * | get_the_number_of_id, | ||
uint8_t | range = 253 , |
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const char ** | log = NULL |
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) |
Definition at line 329 of file dynamixel_driver.cpp.
bool DynamixelDriver::scan | ( | uint8_t * | get_id, |
uint8_t * | get_the_number_of_id, | ||
uint8_t | start_number, | ||
uint8_t | end_number, | ||
const char ** | log = NULL |
||
) |
Definition at line 255 of file dynamixel_driver.cpp.
bool DynamixelDriver::setBaudrate | ( | uint32_t | baud_rate, |
const char ** | log = NULL |
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) |
Definition at line 141 of file dynamixel_driver.cpp.
bool DynamixelDriver::setPacketHandler | ( | float | protocol_version, |
const char ** | log = NULL |
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) |
Definition at line 153 of file dynamixel_driver.cpp.
bool DynamixelDriver::setPortHandler | ( | const char * | device_name, |
const char ** | log = NULL |
||
) |
Definition at line 127 of file dynamixel_driver.cpp.
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private |
Definition at line 50 of file dynamixel_driver.cpp.
bool DynamixelDriver::syncRead | ( | uint8_t | index, |
const char ** | log = NULL |
||
) |
Definition at line 1097 of file dynamixel_driver.cpp.
bool DynamixelDriver::syncRead | ( | uint8_t | index, |
uint8_t * | id, | ||
uint8_t | id_num, | ||
const char ** | log = NULL |
||
) |
Definition at line 1126 of file dynamixel_driver.cpp.
bool DynamixelDriver::syncWrite | ( | uint8_t | index, |
int32_t * | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 971 of file dynamixel_driver.cpp.
bool DynamixelDriver::syncWrite | ( | uint8_t | index, |
uint8_t * | id, | ||
uint8_t | id_num, | ||
int32_t * | data, | ||
uint8_t | data_num_for_each_id, | ||
const char ** | log = NULL |
||
) |
Definition at line 1007 of file dynamixel_driver.cpp.
bool DynamixelDriver::writeOnlyRegister | ( | uint8_t | id, |
uint16_t | address, | ||
uint16_t | length, | ||
uint8_t * | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 680 of file dynamixel_driver.cpp.
bool DynamixelDriver::writeOnlyRegister | ( | uint8_t | id, |
const char * | item_name, | ||
int32_t | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 709 of file dynamixel_driver.cpp.
bool DynamixelDriver::writeRegister | ( | uint8_t | id, |
uint16_t | address, | ||
uint16_t | length, | ||
uint8_t * | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 569 of file dynamixel_driver.cpp.
bool DynamixelDriver::writeRegister | ( | uint8_t | id, |
const char * | item_name, | ||
int32_t | data, | ||
const char ** | log = NULL |
||
) |
Definition at line 604 of file dynamixel_driver.cpp.
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private |
Definition at line 74 of file dynamixel_driver.h.
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Definition at line 81 of file dynamixel_driver.h.
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Definition at line 72 of file dynamixel_driver.h.
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Definition at line 73 of file dynamixel_driver.h.
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Definition at line 67 of file dynamixel_driver.h.
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Definition at line 66 of file dynamixel_driver.h.
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Definition at line 80 of file dynamixel_driver.h.
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Definition at line 79 of file dynamixel_driver.h.
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Definition at line 70 of file dynamixel_driver.h.
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Definition at line 69 of file dynamixel_driver.h.
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Definition at line 76 of file dynamixel_driver.h.
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Definition at line 78 of file dynamixel_driver.h.