DynamixelWorkbench Class Reference

#include <dynamixel_workbench.h>

Inheritance diagram for DynamixelWorkbench:

Public Member Functions
bool	changeBaudrate (uint8_t id, uint32_t new_baudrate, const char **log=NULL)
bool	changeID (uint8_t id, uint8_t new_id, const char **log=NULL)
bool	changeProtocolVersion (uint8_t id, uint8_t version, const char **log=NULL)
int16_t	convertCurrent2Value (uint8_t id, float current)
int16_t	convertCurrent2Value (float current)
int32_t	convertRadian2Value (uint8_t id, float radian)
int32_t	convertRadian2Value (float radian, int32_t max_position, int32_t min_position, float max_radian, float min_radian)
float	convertValue2Current (uint8_t id, int16_t value)
float	convertValue2Current (int16_t value)
float	convertValue2Load (int16_t value)
float	convertValue2Radian (uint8_t id, int32_t value)
float	convertValue2Radian (int32_t value, int32_t max_position, int32_t min_position, float max_radian, float min_radian)
float	convertValue2Velocity (uint8_t id, int32_t value)
int32_t	convertVelocity2Value (uint8_t id, float velocity)
bool	currentBasedPositionMode (uint8_t id, int32_t current=0, const char **log=NULL)
	DynamixelWorkbench ()
bool	getPresentPositionData (uint8_t id, int32_t *data, const char **log=NULL)
bool	getPresentVelocityData (uint8_t id, int32_t *data, const char **log=NULL)
bool	getRadian (uint8_t id, float *radian, const char **log=NULL)
bool	getVelocity (uint8_t id, float *velocity, 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	itemRead (uint8_t id, const char *item_name, int32_t *data, const char **log=NULL)
bool	itemWrite (uint8_t id, const char *item_name, int32_t data, const char **log=NULL)
bool	jointMode (uint8_t id, int32_t velocity=0, int32_t acceleration=0, const char **log=NULL)
bool	led (uint8_t id, int32_t onoff, const char **log=NULL)
bool	ledOff (uint8_t id, const char **log=NULL)
bool	ledOn (uint8_t id, const char **log=NULL)
bool	setCurrentBasedPositionControlMode (uint8_t id, const char **log=NULL)
bool	setCurrentControlMode (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	setNormalDirection (uint8_t id, const char **log=NULL)
bool	setOperatingMode (uint8_t id, uint8_t index, const char **log=NULL)
bool	setPositionControlMode (uint8_t id, const char **log=NULL)
bool	setPWMControlMode (uint8_t id, const char **log=NULL)
bool	setReverseDirection (uint8_t id, const char **log=NULL)
bool	setSecondaryID (uint8_t id, uint8_t secondary_id, const char **log=NULL)
bool	setTimeBasedProfile (uint8_t id, const char **log=NULL)
bool	setTorqueControlMode (uint8_t id, const char **log=NULL)
bool	setVelocityBasedProfile (uint8_t id, const char **log=NULL)
bool	setVelocityControlMode (uint8_t id, const char **log=NULL)
bool	torque (uint8_t id, int32_t onoff, const char **log=NULL)
bool	torqueOff (uint8_t id, const char **log=NULL)
bool	torqueOn (uint8_t id, const char **log=NULL)
bool	wheelMode (uint8_t id, int32_t acceleration=0, const char **log=NULL)
	~DynamixelWorkbench ()
Public Member Functions inherited from DynamixelDriver
bool	addBulkReadParam (uint8_t id, uint16_t address, uint16_t length, const char **log=NULL)
bool	addBulkReadParam (uint8_t id, const char *item_name, const char **log=NULL)
bool	addBulkWriteParam (uint8_t id, uint16_t address, uint16_t length, int32_t data, const char **log=NULL)
bool	addBulkWriteParam (uint8_t id, const char *item_name, int32_t data, const char **log=NULL)
bool	addSyncReadHandler (uint16_t address, uint16_t length, const char **log=NULL)
bool	addSyncReadHandler (uint8_t id, const char *item_name, const char **log=NULL)
bool	addSyncWriteHandler (uint16_t address, uint16_t length, const char **log=NULL)
bool	addSyncWriteHandler (uint8_t id, const char *item_name, const char **log=NULL)
bool	begin (const char *device_name="/dev/ttyUSB0", uint32_t baud_rate=57600, const char **log=NULL)
bool	bulkRead (const char **log=NULL)
bool	bulkWrite (const char **log=NULL)
bool	clearBulkReadParam (void)
bool	clearMultiTurn (uint8_t id, const char **log=NULL)
	DynamixelDriver ()
uint32_t	getBaudrate (void)
bool	getBulkReadData (int32_t *data, const char **log=NULL)
bool	getBulkReadData (uint8_t *id, uint8_t id_num, uint16_t *address, uint16_t *length, int32_t *data, const char **log=NULL)
const ControlItem *	getControlTable (uint8_t id, const char **log=NULL)
const ControlItem *	getItemInfo (uint8_t id, const char *item_name, const char **log=NULL)
const ModelInfo *	getModelInfo (uint8_t id, const char **log=NULL)
const char *	getModelName (uint8_t id, const char **log=NULL)
uint16_t	getModelNumber (uint8_t id, const char **log=NULL)
void	getParam (int32_t data, uint8_t *param)
float	getProtocolVersion (void)
bool	getSyncReadData (uint8_t index, int32_t *data, const char **log=NULL)
bool	getSyncReadData (uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, const char **log=NULL)
bool	getSyncReadData (uint8_t index, uint8_t *id, uint8_t id_num, uint16_t address, uint16_t length, int32_t *data, const char **log=NULL)
uint8_t	getTheNumberOfBulkReadParam (void)
uint8_t	getTheNumberOfControlItem (uint8_t id, const char **log=NULL)
uint8_t	getTheNumberOfSyncReadHandler (void)
uint8_t	getTheNumberOfSyncWriteHandler (void)
bool	init (const char *device_name="/dev/ttyUSB0", uint32_t baud_rate=57600, const char **log=NULL)
bool	initBulkRead (const char **log=NULL)
bool	initBulkWrite (const char **log=NULL)
bool	ping (uint8_t id, uint16_t *get_model_number, const char **log=NULL)
bool	ping (uint8_t id, const char **log=NULL)
bool	readRegister (uint8_t id, uint16_t address, uint16_t length, uint32_t *data, const char **log=NULL)
bool	readRegister (uint8_t id, const char *item_name, int32_t *data, const char **log=NULL)
bool	reboot (uint8_t id, const char **log=NULL)
bool	reset (uint8_t id, const char **log=NULL)
bool	scan (uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t range=253, const char **log=NULL)
bool	scan (uint8_t *get_id, uint8_t *get_the_number_of_id, uint8_t start_number, uint8_t end_number, const char **log=NULL)
bool	setBaudrate (uint32_t baud_rate, const char **log=NULL)
bool	setPacketHandler (float protocol_version, const char **log=NULL)
bool	setPortHandler (const char *device_name, const char **log=NULL)
bool	syncRead (uint8_t index, const char **log=NULL)
bool	syncRead (uint8_t index, uint8_t *id, uint8_t id_num, const char **log=NULL)
bool	syncWrite (uint8_t index, int32_t *data, const char **log=NULL)
bool	syncWrite (uint8_t index, uint8_t *id, uint8_t id_num, int32_t *data, uint8_t data_num_for_each_id, const char **log=NULL)
bool	writeOnlyRegister (uint8_t id, uint16_t address, uint16_t length, uint8_t *data, const char **log=NULL)
bool	writeOnlyRegister (uint8_t id, const char *item_name, int32_t data, const char **log=NULL)
bool	writeRegister (uint8_t id, uint16_t address, uint16_t length, uint8_t *data, const char **log=NULL)
bool	writeRegister (uint8_t id, const char *item_name, int32_t data, const char **log=NULL)
	~DynamixelDriver ()

Detailed Description

Definition at line 24 of file dynamixel_workbench.h.

Constructor & Destructor Documentation

DynamixelWorkbench()

DynamixelWorkbench::DynamixelWorkbench

(

)

Definition at line 36 of file dynamixel_workbench.cpp.

~DynamixelWorkbench()

DynamixelWorkbench::~DynamixelWorkbench

(

)

Definition at line 38 of file dynamixel_workbench.cpp.

Member Function Documentation

changeBaudrate()

bool DynamixelWorkbench::changeBaudrate	(	uint8_t	id,
		uint32_t	new_baudrate,
		const char **	log = NULL
	)

Definition at line 92 of file dynamixel_workbench.cpp.

changeID()

bool DynamixelWorkbench::changeID	(	uint8_t	id,
		uint8_t	new_id,
		const char **	log = NULL
	)

Definition at line 73 of file dynamixel_workbench.cpp.

changeProtocolVersion()

bool DynamixelWorkbench::changeProtocolVersion	(	uint8_t	id,
		uint8_t	version,
		const char **	log = NULL
	)

Definition at line 217 of file dynamixel_workbench.cpp.

convertCurrent2Value() [1/2]

int16_t DynamixelWorkbench::convertCurrent2Value	(	uint8_t	id,
		float	current
	)

Definition at line 1337 of file dynamixel_workbench.cpp.

convertCurrent2Value() [2/2]

int16_t DynamixelWorkbench::convertCurrent2Value

(

float

current

)

Definition at line 1371 of file dynamixel_workbench.cpp.

convertRadian2Value() [1/2]

int32_t DynamixelWorkbench::convertRadian2Value	(	uint8_t	id,
		float	radian
	)

Definition at line 1173 of file dynamixel_workbench.cpp.

convertRadian2Value() [2/2]

int32_t DynamixelWorkbench::convertRadian2Value	(	float	radian,
		int32_t	max_position,
		int32_t	min_position,
		float	max_radian,
		float	min_radian
	)

Definition at line 1215 of file dynamixel_workbench.cpp.

convertValue2Current() [1/2]

float DynamixelWorkbench::convertValue2Current	(	uint8_t	id,
		int16_t	value
	)

Definition at line 1381 of file dynamixel_workbench.cpp.

convertValue2Current() [2/2]

float DynamixelWorkbench::convertValue2Current

(

int16_t

value

)

Definition at line 1422 of file dynamixel_workbench.cpp.

convertValue2Load()

float DynamixelWorkbench::convertValue2Load

(

int16_t

value

)

Definition at line 1432 of file dynamixel_workbench.cpp.

convertValue2Radian() [1/2]

float DynamixelWorkbench::convertValue2Radian	(	uint8_t	id,
		int32_t	value
	)

Definition at line 1196 of file dynamixel_workbench.cpp.

convertValue2Radian() [2/2]

float DynamixelWorkbench::convertValue2Radian	(	int32_t	value,
		int32_t	max_position,
		int32_t	min_position,
		float	max_radian,
		float	min_radian
	)

Definition at line 1236 of file dynamixel_workbench.cpp.

convertValue2Velocity()

float DynamixelWorkbench::convertValue2Velocity	(	uint8_t	id,
		int32_t	value
	)

Definition at line 1296 of file dynamixel_workbench.cpp.

convertVelocity2Value()

int32_t DynamixelWorkbench::convertVelocity2Value	(	uint8_t	id,
		float	velocity
	)

Definition at line 1253 of file dynamixel_workbench.cpp.

currentBasedPositionMode()

bool DynamixelWorkbench::currentBasedPositionMode	(	uint8_t	id,
		int32_t	current = 0,
		const char **	log = NULL
	)

Definition at line 928 of file dynamixel_workbench.cpp.

getPresentPositionData()

bool DynamixelWorkbench::getPresentPositionData	(	uint8_t	id,
		int32_t *	data,
		const char **	log = NULL
	)

Definition at line 1102 of file dynamixel_workbench.cpp.

getPresentVelocityData()

bool DynamixelWorkbench::getPresentVelocityData	(	uint8_t	id,
		int32_t *	data,
		const char **	log = NULL
	)

Definition at line 1156 of file dynamixel_workbench.cpp.

getRadian()

bool DynamixelWorkbench::getRadian	(	uint8_t	id,
		float *	radian,
		const char **	log = NULL
	)

Definition at line 1120 of file dynamixel_workbench.cpp.

getVelocity()

bool DynamixelWorkbench::getVelocity	(	uint8_t	id,
		float *	velocity,
		const char **	log = NULL
	)

Definition at line 1138 of file dynamixel_workbench.cpp.

goalPosition() [1/2]

bool DynamixelWorkbench::goalPosition	(	uint8_t	id,
		int	value,
		const char **	log = NULL
	)

Definition at line 966 of file dynamixel_workbench.cpp.

goalPosition() [2/2]

bool DynamixelWorkbench::goalPosition	(	uint8_t	id,
		float	radian,
		const char **	log = NULL
	)

Definition at line 1066 of file dynamixel_workbench.cpp.

goalSpeed()

bool DynamixelWorkbench::goalSpeed	(	uint8_t	id,
		int	value,
		const char **	log = NULL
	)

Definition at line 988 of file dynamixel_workbench.cpp.

goalVelocity() [1/2]

bool DynamixelWorkbench::goalVelocity	(	uint8_t	id,
		int	value,
		const char **	log = NULL
	)

Definition at line 996 of file dynamixel_workbench.cpp.

goalVelocity() [2/2]

bool DynamixelWorkbench::goalVelocity	(	uint8_t	id,
		float	velocity,
		const char **	log = NULL
	)

Definition at line 1084 of file dynamixel_workbench.cpp.

itemRead()

bool DynamixelWorkbench::itemRead	(	uint8_t	id,
		const char *	item_name,
		int32_t *	data,
		const char **	log = NULL
	)

Definition at line 253 of file dynamixel_workbench.cpp.

itemWrite()

bool DynamixelWorkbench::itemWrite	(	uint8_t	id,
		const char *	item_name,
		int32_t	data,
		const char **	log = NULL
	)

Definition at line 248 of file dynamixel_workbench.cpp.

jointMode()

bool DynamixelWorkbench::jointMode	(	uint8_t	id,
		int32_t	velocity = 0,
		int32_t	acceleration = 0,
		const char **	log = NULL
	)

Definition at line 783 of file dynamixel_workbench.cpp.

led()

bool DynamixelWorkbench::led	(	uint8_t	id,
		int32_t	onoff,
		const char **	log = NULL
	)

Definition at line 258 of file dynamixel_workbench.cpp.

ledOff()

bool DynamixelWorkbench::ledOff	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 282 of file dynamixel_workbench.cpp.

ledOn()

bool DynamixelWorkbench::ledOn	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 273 of file dynamixel_workbench.cpp.

setCurrentBasedPositionControlMode()

bool DynamixelWorkbench::setCurrentBasedPositionControlMode	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 554 of file dynamixel_workbench.cpp.

setCurrentControlMode()

bool DynamixelWorkbench::setCurrentControlMode	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 490 of file dynamixel_workbench.cpp.

setExtendedPositionControlMode()

bool DynamixelWorkbench::setExtendedPositionControlMode	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 522 of file dynamixel_workbench.cpp.

setMultiTurnControlMode()

bool DynamixelWorkbench::setMultiTurnControlMode	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 538 of file dynamixel_workbench.cpp.

setNormalDirection()

bool DynamixelWorkbench::setNormalDirection	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 291 of file dynamixel_workbench.cpp.

setOperatingMode()

bool DynamixelWorkbench::setOperatingMode	(	uint8_t	id,
		uint8_t	index,
		const char **	log = NULL
	)

Definition at line 586 of file dynamixel_workbench.cpp.

setPositionControlMode()

bool DynamixelWorkbench::setPositionControlMode	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 458 of file dynamixel_workbench.cpp.

setPWMControlMode()

bool DynamixelWorkbench::setPWMControlMode	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 570 of file dynamixel_workbench.cpp.

setReverseDirection()

bool DynamixelWorkbench::setReverseDirection	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 324 of file dynamixel_workbench.cpp.

setSecondaryID()

bool DynamixelWorkbench::setSecondaryID	(	uint8_t	id,
		uint8_t	secondary_id,
		const char **	log = NULL
	)

Definition at line 423 of file dynamixel_workbench.cpp.

setTimeBasedProfile()

bool DynamixelWorkbench::setTimeBasedProfile	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 390 of file dynamixel_workbench.cpp.

setTorqueControlMode()

bool DynamixelWorkbench::setTorqueControlMode	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 506 of file dynamixel_workbench.cpp.

setVelocityBasedProfile()

bool DynamixelWorkbench::setVelocityBasedProfile	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 357 of file dynamixel_workbench.cpp.

setVelocityControlMode()

bool DynamixelWorkbench::setVelocityControlMode	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 474 of file dynamixel_workbench.cpp.

torque()

bool DynamixelWorkbench::torque	(	uint8_t	id,
		int32_t	onoff,
		const char **	log = NULL
	)

Definition at line 40 of file dynamixel_workbench.cpp.

torqueOff()

bool DynamixelWorkbench::torqueOff	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 64 of file dynamixel_workbench.cpp.

torqueOn()

bool DynamixelWorkbench::torqueOn	(	uint8_t	id,
		const char **	log = NULL
	)

Definition at line 55 of file dynamixel_workbench.cpp.

wheelMode()

bool DynamixelWorkbench::wheelMode	(	uint8_t	id,
		int32_t	acceleration = 0,
		const char **	log = NULL
	)

Definition at line 866 of file dynamixel_workbench.cpp.

---

The documentation for this class was generated from the following files:

• dynamixel_workbench.h
• dynamixel_workbench.cpp