ProtocolDefinitions.hpp File Reference

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Namespaces
namespace	youbot
Defines
#define	MVP_ABS   0
#define	MVP_COORD   2
#define	MVP_REL   1
#define	RFS_START   0
#define	RFS_STATUS   2
#define	RFS_STOP   1
#define	TMCL_APPL_RESET   131
#define	TMCL_APPL_RUN   129
#define	TMCL_APPL_STOP   128
#define	TMCL_RESULT_CHECKSUM_ERROR   2
#define	TMCL_RESULT_NOT_READY   1
#define	TMCL_RESULT_OK   0
#define	USER_VARIABLE_BANK   2
Typedefs
typedef enum youbot::TMCLCommandNumber	youbot::CommandNumber
Enumerations
enum	youbot::GripperErrorFlags {   youbot::STALL_GUARD_STATUS = 0x1, youbot::GRIPPER_OVER_TEMPERATURE = 0x2, youbot::PRE_WARNING_OVER_TEMPERATURE = 0x4, youbot::SHORT_TO_GROUND_A = 0x8,   youbot::SHORT_TO_GROUND_B = 0x10, youbot::OPEN_LOAD_A = 0x20, youbot::OPEN_LOAD_B = 0x40, youbot::STAND_STILL = 0x80 }
enum	youbot::MailboxErrorFlags {   youbot::OVER_CURRENT = 0x1, youbot::UNDER_VOLTAGE = 0x2, youbot::OVER_VOLTAGE = 0x4, youbot::OVER_TEMPERATURE = 0x8,   youbot::MOTOR_HALTED = 0x10, youbot::HALL_SENSOR_ERROR = 0x20, youbot::VELOCITY_MODE = 0x200, youbot::POSITION_MODE = 0x400,   youbot::TORQUE_MODE = 0x800, youbot::POSITION_REACHED = 0x4000, youbot::INITIALIZED = 0x8000, youbot::TIMEOUT = 0x10000,   youbot::I2T_EXCEEDED = 0x20000 }
enum	youbot::ParameterType { youbot::MOTOR_CONTOLLER_PARAMETER, youbot::API_PARAMETER }
enum	youbot::TMCLCommandNumber {   youbot::ROR = 1, youbot::ROL = 2, youbot::MST = 3, youbot::MVP = 4,   youbot::SAP = 5, youbot::GAP = 6, youbot::STAP = 7, youbot::RSAP = 8,   youbot::SGP = 9, youbot::GGP = 10, youbot::STGP = 11, youbot::RSGP = 12,   youbot::RFS = 13, youbot::SIO = 14, youbot::GIO = 15, youbot::SCO = 30,   youbot::GCO = 31, youbot::CCO = 32, youbot::FIRMWARE_VERSION = 136 }
enum	youbot::TMCLModuleAddress { youbot::DRIVE = 0, youbot::GRIPPER = 1 }
enum	youbot::YouBotJointControllerMode {   youbot::MOTOR_STOP = 0, youbot::POSITION_CONTROL = 1, youbot::VELOCITY_CONTROL = 2, youbot::NO_MORE_ACTION = 3,   youbot::SET_POSITION_TO_REFERENCE = 4, youbot::CURRENT_MODE = 6, youbot::INITIALIZE = 7 }
enum	youbot::YouBotMailboxStatusFlags {   youbot::NO_ERROR = 100, youbot::INVALID_COMMAND = 2, youbot::WRONG_TYPE = 3, youbot::INVALID_VALUE = 4,   youbot::CONFIGURATION_EEPROM_LOCKED = 5, youbot::COMMAND_NOT_AVAILABLE = 6, youbot::REPLY_WRITE_PROTECTED = 8 }

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Define Documentation

#define MVP_ABS   0

Definition at line 84 of file ProtocolDefinitions.hpp.

#define MVP_COORD   2

Definition at line 86 of file ProtocolDefinitions.hpp.

#define MVP_REL   1

Definition at line 85 of file ProtocolDefinitions.hpp.

#define RFS_START   0

Definition at line 89 of file ProtocolDefinitions.hpp.

#define RFS_STATUS   2

Definition at line 91 of file ProtocolDefinitions.hpp.

#define RFS_STOP   1

Definition at line 90 of file ProtocolDefinitions.hpp.

#define TMCL_APPL_RESET   131

Definition at line 81 of file ProtocolDefinitions.hpp.

#define TMCL_APPL_RUN   129

Definition at line 80 of file ProtocolDefinitions.hpp.

#define TMCL_APPL_STOP   128

Definition at line 79 of file ProtocolDefinitions.hpp.

#define TMCL_RESULT_CHECKSUM_ERROR   2

Definition at line 96 of file ProtocolDefinitions.hpp.

#define TMCL_RESULT_NOT_READY   1

Definition at line 95 of file ProtocolDefinitions.hpp.

#define TMCL_RESULT_OK   0

Definition at line 94 of file ProtocolDefinitions.hpp.

#define USER_VARIABLE_BANK   2

Definition at line 76 of file ProtocolDefinitions.hpp.