Macros | Functions | Variables
indirect_address_node.cpp File Reference
#include <ros/ros.h>
#include "std_msgs/String.h"
#include "dynamixel_sdk_examples/SyncGetPosition.h"
#include "dynamixel_sdk_examples/SyncSetPosition.h"
#include "dynamixel_sdk/dynamixel_sdk.h"
Include dependency graph for indirect_address_node.cpp:

Go to the source code of this file.

Macros

#define ADDR_GOAL_POSITION   116
 
#define ADDR_INDIRECT_ADDR1   168
 
#define ADDR_INDIRECT_ADDR5   176
 
#define ADDR_INDIRECT_DATA1   224
 
#define ADDR_INDIRECT_DATA5   228
 
#define ADDR_PRESENT_POSITION   132
 
#define ADDR_TORQUE_ENABLE   64
 
#define BAUDRATE   57600
 
#define DEVICE_NAME   "/dev/ttyUSB0"
 
#define DXL1_ID   1
 
#define DXL2_ID   2
 
#define PROTOCOL_VERSION   2.0
 

Functions

int main (int argc, char **argv)
 
bool syncGetPresentPositionCallback (dynamixel_sdk_examples::SyncGetPosition::Request &req, dynamixel_sdk_examples::SyncGetPosition::Response &res)
 
void syncSetPositionCallback (const dynamixel_sdk_examples::SyncSetPosition::ConstPtr &msg)
 

Variables

GroupSyncRead groupSyncRead (portHandler, packetHandler, ADDR_INDIRECT_DATA1, 4)
 
GroupSyncWrite groupSyncWrite (portHandler, packetHandler, ADDR_INDIRECT_DATA5, 4)
 
PacketHandlerpacketHandler = PacketHandler::getPacketHandler(PROTOCOL_VERSION)
 
PortHandlerportHandler = PortHandler::getPortHandler(DEVICE_NAME)
 

Macro Definition Documentation

◆ ADDR_GOAL_POSITION

#define ADDR_GOAL_POSITION   116

Definition at line 46 of file indirect_address_node.cpp.

◆ ADDR_INDIRECT_ADDR1

#define ADDR_INDIRECT_ADDR1   168

Definition at line 47 of file indirect_address_node.cpp.

◆ ADDR_INDIRECT_ADDR5

#define ADDR_INDIRECT_ADDR5   176

Definition at line 48 of file indirect_address_node.cpp.

◆ ADDR_INDIRECT_DATA1

#define ADDR_INDIRECT_DATA1   224

Definition at line 49 of file indirect_address_node.cpp.

◆ ADDR_INDIRECT_DATA5

#define ADDR_INDIRECT_DATA5   228

Definition at line 50 of file indirect_address_node.cpp.

◆ ADDR_PRESENT_POSITION

#define ADDR_PRESENT_POSITION   132

Definition at line 45 of file indirect_address_node.cpp.

◆ ADDR_TORQUE_ENABLE

#define ADDR_TORQUE_ENABLE   64

Definition at line 44 of file indirect_address_node.cpp.

◆ BAUDRATE

#define BAUDRATE   57600

Definition at line 58 of file indirect_address_node.cpp.

◆ DEVICE_NAME

#define DEVICE_NAME   "/dev/ttyUSB0"

Definition at line 59 of file indirect_address_node.cpp.

◆ DXL1_ID

#define DXL1_ID   1

Definition at line 56 of file indirect_address_node.cpp.

◆ DXL2_ID

#define DXL2_ID   2

Definition at line 57 of file indirect_address_node.cpp.

◆ PROTOCOL_VERSION

#define PROTOCOL_VERSION   2.0

Definition at line 53 of file indirect_address_node.cpp.

Function Documentation

◆ main()

int main ( int  argc,
char **  argv 
)

Definition at line 153 of file indirect_address_node.cpp.

◆ syncGetPresentPositionCallback()

bool syncGetPresentPositionCallback ( dynamixel_sdk_examples::SyncGetPosition::Request &  req,
dynamixel_sdk_examples::SyncGetPosition::Response &  res 
)

Definition at line 67 of file indirect_address_node.cpp.

◆ syncSetPositionCallback()

void syncSetPositionCallback ( const dynamixel_sdk_examples::SyncSetPosition::ConstPtr &  msg)

Definition at line 110 of file indirect_address_node.cpp.

Variable Documentation

◆ groupSyncRead

◆ groupSyncWrite

◆ packetHandler

PacketHandler* packetHandler = PacketHandler::getPacketHandler(PROTOCOL_VERSION)

Definition at line 62 of file indirect_address_node.cpp.

◆ portHandler

PortHandler* portHandler = PortHandler::getPortHandler(DEVICE_NAME)

Definition at line 61 of file indirect_address_node.cpp.



dynamixel_sdk_examples
Author(s): zerom
autogenerated on Mon Feb 28 2022 22:16:15