C++ API

myactuator_rmd

Contains technical specifications for the different actuators In 2024 the actuators were re-branded, see https://www.myactuator.com/downloads-x-series

Author

Tobit Flatscher (github.com/2b-t)

File Hierarchy

• • Directory include
    • Directory myactuator_rmd
      • Directory actuator_state
        • File acceleration_type.hpp
        • File can_baud_rate.hpp
        • File control_mode.hpp
        • File error_code.hpp
        • File feedback.hpp
        • File gains.hpp
        • File motor_status_1.hpp
        • File motor_status_2.hpp
        • File motor_status_3.hpp
      • Directory can
        • File exceptions.hpp
        • File frame.hpp
        • File node.hpp
        • File utilities.hpp
      • Directory driver
        • File can_address_offset.hpp
        • File can_driver.hpp
        • File can_node.hpp
        • File driver.hpp
      • Directory protocol
        • File command_type.hpp
        • File message.hpp
        • File requests.hpp
        • File responses.hpp
        • File single_motor_message.hpp
      • File actuator_constants.hpp
      • File actuator_interface.hpp
      • File exceptions.hpp
      • File io.hpp
      • File myactuator_rmd.hpp
      • File version.hpp

Full C++ API

Namespaces

• Namespace myactuator_rmd

• Namespace myactuator_rmd::can

• Namespace std

Classes and Structs

• Class GetMultiTurnEncoderPositionResponse

• Class ActuatorInterface

• Class BusError

• Class BusOffError

• Class ControllerProblemError

• Class ControllerRestartedError

• Class Exception

• Class Frame

• Class LostArbitrationError

• Class NoAcknowledgeError

• Class Node

• Class ProtocolViolationError

• Class SocketException

• Class TransceiverStatusError

• Class TxTimeoutError

• Class CanAddressOffset

• Class CanDriver

• Class CanIdRequest

• Template Class CanNode

• Class Driver

• Class Exception

• Template Class FeedbackResponse

• Class Gains

• Template Class GainsResponse

• Class GetAccelerationResponse

• Class GetCanIdRequest

• Class GetCanIdResponse

• Class GetControlModeResponse

• Class GetMotorModelResponse

• Class GetMotorPowerResponse

• Class GetMotorStatus1Response

• Class GetMotorStatus3Response

• Class GetMultiTurnAngleResponse

• Class GetSingleTurnAngleResponse

• Class GetSingleTurnEncoderPositionResponse

• Class GetSystemRuntimeResponse

• Class GetVersionDateResponse

• Class Message

• Class MotorStatus1

• Class MotorStatus2

• Class MotorStatus3

• Template Class MultiTurnEncoderPositionResponse

• Class PiGains

• Class ProtocolException

• Class SetAccelerationRequest

• Class SetCanBaudRateRequest

• Class SetCanIdRequest

• Class SetCurrentPositionAsEncoderZeroResponse

• Class SetEncoderZeroRequest

• Template Class SetGainsRequest

• Class SetPositionAbsoluteRequest

• Class SetTimeoutRequest

• Class SetTorqueRequest

• Class SetVelocityRequest

• Template Class SingleMotorMessage

• Template Class SingleMotorRequest

• Template Class SingleMotorResponse

• Class ValueRangeException

• Class X10_100

• Class X10_40

• Class X10S2V3

• Class X10V3

• Class X12_150

• Class X15_400

• Class X4_24

• Class X4_3

• Class X4V2

• Class X4V3

• Class X6_40

• Class X6_7

• Class X6_8

• Class X6S2V2

• Class X6V2

• Class X6V3

• Class X8_20

• Class X8_25

• Class X8_60

• Class X8_90

• Class X8HV3

• Class X8ProHV3

• Class X8ProV2

• Class X8S2V3

• Class X8V2

Enums

• Enum AccelerationType

• Enum CanBaudRate

• Enum CommandType

• Enum ControlMode

• Enum ErrorCode

Functions

• Function myactuator_rmd::operator!=(CommandType const&, std::uint8_t const)

• Function myactuator_rmd::operator!=(std::uint8_t const, CommandType const&)

• Function myactuator_rmd::operator<<(std::ostream&, AccelerationType const&)

• Function myactuator_rmd::operator<<(std::ostream&, CanBaudRate const&)

• Function myactuator_rmd::operator<<(std::ostream&, ControlMode const&)

• Function myactuator_rmd::operator<<(std::ostream&, ErrorCode const&)

• Function myactuator_rmd::operator<<(std::ostream&, PiGains const&)

• Function myactuator_rmd::operator<<(std::ostream&, Gains const&)

• Function myactuator_rmd::operator<<(std::ostream&, MotorStatus1 const&)

• Function myactuator_rmd::operator<<(std::ostream&, MotorStatus2 const&)

• Function myactuator_rmd::operator<<(std::ostream&, MotorStatus3 const&)

• Function myactuator_rmd::operator==(CommandType const&, std::uint8_t const)

• Function myactuator_rmd::operator==(std::uint8_t const, CommandType const&)

• Template Function myactuator_rmd::toTimeval

• Function operator<<

Defines

• Define MYACTUATOR_RMD_PROTOCOL_MAJOR_VERSION

• Define MYACTUATOR_RMD_PROTOCOL_MINOR_VERSION

Typedefs

• Typedef myactuator_rmd::Feedback

• Typedef myactuator_rmd::GetAccelerationRequest

• Typedef myactuator_rmd::GetControllerGainsRequest

• Typedef myactuator_rmd::GetControllerGainsResponse

• Typedef myactuator_rmd::GetControlModeRequest

• Typedef myactuator_rmd::GetMotorModelRequest

• Typedef myactuator_rmd::GetMotorPowerRequest

• Typedef myactuator_rmd::GetMotorStatus1Request

• Typedef myactuator_rmd::GetMotorStatus2Request

• Typedef myactuator_rmd::GetMotorStatus2Response

• Typedef myactuator_rmd::GetMotorStatus3Request

• Typedef myactuator_rmd::GetMultiTurnAngleRequest

• Typedef myactuator_rmd::GetMultiTurnEncoderOriginalPositionRequest

• Typedef myactuator_rmd::GetMultiTurnEncoderOriginalPositionResponse

• Typedef myactuator_rmd::GetMultiTurnEncoderPositionRequest

• Typedef myactuator_rmd::GetMultiTurnEncoderPositionResponse

• Typedef myactuator_rmd::GetMultiTurnEncoderZeroOffsetRequest

• Typedef myactuator_rmd::GetMultiTurnEncoderZeroOffsetResponse

• Typedef myactuator_rmd::GetSingleTurnAngleRequest

• Typedef myactuator_rmd::GetSingleTurnEncoderPositionRequest

• Typedef myactuator_rmd::GetSystemRuntimeRequest

• Typedef myactuator_rmd::GetVersionDateRequest

• Typedef myactuator_rmd::LockBrakeRequest

• Typedef myactuator_rmd::LockBrakeResponse

• Typedef myactuator_rmd::ReleaseBrakeRequest

• Typedef myactuator_rmd::ReleaseBrakeResponse

• Typedef myactuator_rmd::ResetRequest

• Typedef myactuator_rmd::SetAccelerationResponse

• Typedef myactuator_rmd::SetCanIdResponse

• Typedef myactuator_rmd::SetControllerGainsPersistentlyRequest

• Typedef myactuator_rmd::SetControllerGainsPersistentlyResponse

• Typedef myactuator_rmd::SetControllerGainsRequest

• Typedef myactuator_rmd::SetControllerGainsResponse

• Typedef myactuator_rmd::SetCurrentPositionAsEncoderZeroRequest

• Typedef myactuator_rmd::SetEncoderZeroResponse

• Typedef myactuator_rmd::SetPositionAbsoluteResponse

• Typedef myactuator_rmd::SetTimeoutResponse

• Typedef myactuator_rmd::SetTorqueResponse

• Typedef myactuator_rmd::SetVelocityResponse

• Typedef myactuator_rmd::ShutdownMotorRequest

• Typedef myactuator_rmd::ShutdownMotorResponse

• Typedef myactuator_rmd::StopMotorRequest

• Typedef myactuator_rmd::StopMotorResponse

Directories

• Directory include

• Directory myactuator_rmd

• Directory actuator_state

• Directory can

• Directory driver

• Directory protocol

Files

• File acceleration_type.hpp

• File actuator_constants.hpp

• File actuator_interface.hpp

• File can_address_offset.hpp

• File can_baud_rate.hpp

• File can_driver.hpp

• File can_node.hpp

• File command_type.hpp

• File control_mode.hpp

• File driver.hpp

• File error_code.hpp

• File exceptions.hpp

• File exceptions.hpp

• File feedback.hpp

• File frame.hpp

• File gains.hpp

• File io.hpp

• File message.hpp

• File motor_status_1.hpp

• File motor_status_2.hpp

• File motor_status_3.hpp

• File myactuator_rmd.hpp

• File node.hpp

• File requests.hpp

• File responses.hpp

• File single_motor_message.hpp

• File utilities.hpp

• File version.hpp