Class DynamixelWorkbench

Inheritance Relationships

Base Type

Class Documentation

class DynamixelWorkbench : public DynamixelDriver

Public Functions

DynamixelWorkbench()
~DynamixelWorkbench()
bool torque(uint8_t id, int32_t onoff, const char **log = NULL)
bool torqueOn(uint8_t id, const char **log = NULL)
bool torqueOff(uint8_t id, const char **log = NULL)
bool changeID(uint8_t id, uint8_t new_id, const char **log = NULL)
bool changeBaudrate(uint8_t id, uint32_t new_baudrate, const char **log = NULL)
bool changeProtocolVersion(uint8_t id, uint8_t version, const char **log = NULL)
bool itemWrite(uint8_t id, const char *item_name, int32_t data, const char **log = NULL)
bool itemRead(uint8_t id, const char *item_name, int32_t *data, const char **log = NULL)
bool led(uint8_t id, int32_t onoff, const char **log = NULL)
bool ledOn(uint8_t id, const char **log = NULL)
bool ledOff(uint8_t id, const char **log = NULL)
bool setNormalDirection(uint8_t id, const char **log = NULL)
bool setReverseDirection(uint8_t id, const char **log = NULL)
bool setVelocityBasedProfile(uint8_t id, const char **log = NULL)
bool setTimeBasedProfile(uint8_t id, const char **log = NULL)
bool setSecondaryID(uint8_t id, uint8_t secondary_id, const char **log = NULL)
bool setCurrentControlMode(uint8_t id, const char **log = NULL)
bool setTorqueControlMode(uint8_t id, const char **log = NULL)
bool setVelocityControlMode(uint8_t id, const char **log = NULL)
bool setPositionControlMode(uint8_t id, const char **log = NULL)
bool setExtendedPositionControlMode(uint8_t id, const char **log = NULL)
bool setMultiTurnControlMode(uint8_t id, const char **log = NULL)
bool setCurrentBasedPositionControlMode(uint8_t id, const char **log = NULL)
bool setPWMControlMode(uint8_t id, const char **log = NULL)
bool setOperatingMode(uint8_t id, uint8_t index, const char **log = NULL)
bool jointMode(uint8_t id, int32_t velocity = 0, int32_t acceleration = 0, const char **log = NULL)
bool wheelMode(uint8_t id, int32_t acceleration = 0, const char **log = NULL)
bool currentBasedPositionMode(uint8_t id, int32_t current = 0, const char **log = NULL)
bool goalPosition(uint8_t id, int value, const char **log = NULL)
bool goalPosition(uint8_t id, float radian, const char **log = NULL)
bool goalSpeed(uint8_t id, int value, const char **log = NULL)
bool goalVelocity(uint8_t id, int value, const char **log = NULL)
bool goalVelocity(uint8_t id, float velocity, const char **log = NULL)
bool getPresentPositionData(uint8_t id, int32_t *data, const char **log = NULL)
bool getRadian(uint8_t id, float *radian, const char **log = NULL)
bool getPresentVelocityData(uint8_t id, int32_t *data, const char **log = NULL)
bool getVelocity(uint8_t id, float *velocity, const char **log = NULL)
int32_t convertRadian2Value(uint8_t id, float radian)
float convertValue2Radian(uint8_t id, int32_t value)
int32_t convertRadian2Value(float radian, int32_t max_position, int32_t min_position, float max_radian, float min_radian)
float convertValue2Radian(int32_t value, int32_t max_position, int32_t min_position, float max_radian, float min_radian)
int32_t convertVelocity2Value(uint8_t id, float velocity)
float convertValue2Velocity(uint8_t id, int32_t value)
int16_t convertCurrent2Value(uint8_t id, float current)
int16_t convertCurrent2Value(float current)
float convertValue2Current(uint8_t id, int16_t value)
float convertValue2Current(int16_t value)
float convertValue2Load(int16_t value)