#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:

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)

PacketHandler *	packetHandler = PacketHandler::getPacketHandler(PROTOCOL_VERSION)

PortHandler *	portHandler = 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

GroupSyncRead groupSyncRead(portHandler, packetHandler, ADDR_INDIRECT_DATA1, 4)

◆ groupSyncWrite

GroupSyncWrite groupSyncWrite(portHandler, packetHandler, ADDR_INDIRECT_DATA5, 4)

◆ 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.

Macros

Functions

Variables