Class CranePlusDriver

Defined in File crane_plus_driver.hpp

Class Documentation

class CranePlusDriver

Public Functions

CranePlusDriver(const std::string port_name, const int baudrate, std::vector<uint8_t> id_list)

~CranePlusDriver()

bool open_port(void)

void close_port(void)

std::string get_last_error_log(void)

bool torque_enable(const bool enable)

bool write_goal_joint_positions(const std::vector<double> &goal_positions)

bool write_moving_speed_rpm(const uint8_t dxl_id, const double speed_rpm)

bool write_moving_speed_rpm_all(const double speed_rpm)

bool read_present_joint_positions(std::vector<double> &joint_positions)

bool read_present_joint_speeds(std::vector<double> &joint_speeds)

bool read_present_joint_loads(std::vector<double> &joint_loads)

bool read_present_joint_voltages(std::vector<double> &joint_voltages)

bool read_present_joint_temperatures(std::vector<double> &joint_temperatures)