24 #ifndef ROBOTIS_DEVICE_DYNAMIXEL_H_ 25 #define ROBOTIS_DEVICE_DYNAMIXEL_H_ 68 Dynamixel(
int id, std::string model_name,
float protocol_version);
int32_t value_of_0_radian_position_
int32_t value_of_max_radian_position_
double convertValue2Torque(int16_t value)
ControlTableItem * present_velocity_item_
double convertValue2Radian(int32_t value)
ControlTableItem * position_p_gain_item_
ControlTableItem * velocity_p_gain_item_
double convertValue2Velocity(int32_t value)
std::string ctrl_module_name_
ControlTableItem * present_position_item_
ControlTableItem * goal_current_item_
int32_t convertRadian2Value(double radian)
double torque_to_current_value_ratio_
ControlTableItem * goal_position_item_
ControlTableItem * torque_enable_item_
int32_t convertVelocity2Value(double velocity)
ControlTableItem * position_i_gain_item_
ControlTableItem * velocity_i_gain_item_
ControlTableItem * position_d_gain_item_
DynamixelState * dxl_state_
int32_t value_of_min_radian_position_
ControlTableItem * goal_velocity_item_
int16_t convertTorque2Value(double torque)
ControlTableItem * velocity_d_gain_item_
double velocity_to_value_ratio_
ControlTableItem * present_current_item_
Dynamixel(int id, std::string model_name, float protocol_version)