sync_read_write_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 sync_read_write_node.cpp:

Go to the source code of this file.

Macros
#define	ADDR_GOAL_POSITION   116
#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_PRESENT_POSITION, 4)
GroupSyncWrite	groupSyncWrite (portHandler, packetHandler, ADDR_GOAL_POSITION, 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 sync_read_write_node.cpp.

ADDR_PRESENT_POSITION

#define ADDR_PRESENT_POSITION   132

Definition at line 45 of file sync_read_write_node.cpp.

ADDR_TORQUE_ENABLE

#define ADDR_TORQUE_ENABLE   64

Definition at line 44 of file sync_read_write_node.cpp.

BAUDRATE

#define BAUDRATE   57600

Definition at line 54 of file sync_read_write_node.cpp.

DEVICE_NAME

#define DEVICE_NAME   "/dev/ttyUSB0"

Definition at line 55 of file sync_read_write_node.cpp.

DXL1_ID

#define DXL1_ID   1

Definition at line 52 of file sync_read_write_node.cpp.

DXL2_ID

#define DXL2_ID   2

Definition at line 53 of file sync_read_write_node.cpp.

PROTOCOL_VERSION

#define PROTOCOL_VERSION   2.0

Definition at line 49 of file sync_read_write_node.cpp.

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 149 of file sync_read_write_node.cpp.

syncGetPresentPositionCallback()

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

Definition at line 63 of file sync_read_write_node.cpp.

syncSetPositionCallback()

void syncSetPositionCallback

(

const dynamixel_sdk_examples::SyncSetPosition::ConstPtr &

msg

)

Definition at line 106 of file sync_read_write_node.cpp.

Variable Documentation

groupSyncRead

GroupSyncRead groupSyncRead(portHandler, packetHandler, ADDR_PRESENT_POSITION, 4)

groupSyncWrite

GroupSyncWrite groupSyncWrite(portHandler, packetHandler, ADDR_GOAL_POSITION, 4)

packetHandler

PacketHandler* packetHandler = PacketHandler::getPacketHandler(PROTOCOL_VERSION)

Definition at line 58 of file sync_read_write_node.cpp.

portHandler

PortHandler* portHandler = PortHandler::getPortHandler(DEVICE_NAME)

Definition at line 57 of file sync_read_write_node.cpp.