Class DynamixelBase

Defined in File dynamixel_base.hpp

Inheritance Relationships

Derived Types

public dynamixel_p::DynamixelP (Class DynamixelP)
public dynamixel_x::DynamixelX (Class DynamixelX)

Class Documentation

class DynamixelBase

Subclassed by dynamixel_p::DynamixelP, dynamixel_x::DynamixelX

Public Functions

inline explicit DynamixelBase(const uint8_t id)

inline ~DynamixelBase()

inline uint8_t get_id() const

inline std::string get_name() const

inline virtual bool read_operating_mode(const dynamixel_base::comm_t &comm, uint8_t &mode)

inline virtual bool write_operating_mode(const dynamixel_base::comm_t &comm, const uint8_t mode)

inline virtual bool read_current_limit(const dynamixel_base::comm_t &comm, double &limit_ampere)

inline virtual bool read_max_position_limit(const dynamixel_base::comm_t &comm, double &limit_radian)

inline virtual bool read_min_position_limit(const dynamixel_base::comm_t &comm, double &limit_radian)

inline virtual bool write_torque_enable(const dynamixel_base::comm_t &comm, const bool enable)

inline virtual bool write_velocity_i_gain(const dynamixel_base::comm_t &comm, const unsigned int gain)

inline virtual bool write_velocity_p_gain(const dynamixel_base::comm_t &comm, const unsigned int gain)

inline virtual bool write_position_d_gain(const dynamixel_base::comm_t &comm, const unsigned int gain)

inline virtual bool write_position_i_gain(const dynamixel_base::comm_t &comm, const unsigned int gain)

inline virtual bool write_position_p_gain(const dynamixel_base::comm_t &comm, const unsigned int gain)

inline virtual bool write_profile_acceleration(const dynamixel_base::comm_t &comm, const double acceleration_rpss)

inline virtual bool write_profile_velocity(const dynamixel_base::comm_t &comm, const double velocity_rps)

inline virtual unsigned int to_profile_acceleration(const double acceleration_rpss)

inline virtual unsigned int to_profile_velocity(const double velocity_rps)

inline virtual double to_position_radian(const int position)

inline virtual double to_velocity_rps(const int velocity)

inline virtual double to_current_ampere(const int current)

inline virtual double to_voltage_volt(const int voltage)

inline virtual unsigned int from_position_radian(const double position_rad)

inline virtual unsigned int from_velocity_rps(const double velocity_rps)

inline virtual unsigned int from_current_ampere(const double current_ampere)

inline virtual bool auto_set_indirect_address_of_present_position(const dynamixel_base::comm_t &comm)

inline virtual bool auto_set_indirect_address_of_present_velocity(const dynamixel_base::comm_t &comm)

inline virtual bool auto_set_indirect_address_of_present_current(const dynamixel_base::comm_t &comm)

inline virtual bool auto_set_indirect_address_of_present_input_voltage(const dynamixel_base::comm_t &comm)

inline virtual bool auto_set_indirect_address_of_present_temperature(const dynamixel_base::comm_t &comm)

inline virtual bool auto_set_indirect_address_of_goal_position(const dynamixel_base::comm_t &comm)

inline virtual bool auto_set_indirect_address_of_goal_velocity(const dynamixel_base::comm_t &comm)

inline virtual bool auto_set_indirect_address_of_goal_current(const dynamixel_base::comm_t &comm)

inline virtual unsigned int indirect_addr_of_present_position(void)

inline virtual unsigned int indirect_addr_of_present_velocity(void)

inline virtual unsigned int indirect_addr_of_present_current(void)

inline virtual unsigned int indirect_addr_of_present_input_voltage(void)

inline virtual unsigned int indirect_addr_of_present_temperature(void)

inline virtual unsigned int indirect_addr_of_goal_position(void)

inline virtual unsigned int indirect_addr_of_goal_velocity(void)

inline virtual unsigned int indirect_addr_of_goal_current(void)

inline virtual unsigned int start_address_for_indirect_read(void)

inline virtual unsigned int length_of_indirect_data_read(void)

inline virtual unsigned int next_indirect_addr_read(void) const

inline virtual unsigned int start_address_for_indirect_write(void)

inline virtual unsigned int length_of_indirect_data_write(void)

inline virtual unsigned int next_indirect_addr_write(void) const

inline virtual bool extract_present_position_from_sync_read(const dynamixel_base::comm_t &comm, const std::string &group_name, double &position_rad)

inline virtual bool extract_present_velocity_from_sync_read(const dynamixel_base::comm_t &comm, const std::string &group_name, double &velocity_rps)

inline virtual bool extract_present_current_from_sync_read(const dynamixel_base::comm_t &comm, const std::string &group_name, double &current_ampere)

inline virtual bool extract_present_input_voltage_from_sync_read(const dynamixel_base::comm_t &comm, const std::string &group_name, double &voltage_volt)

inline virtual bool extract_present_temperature_from_sync_read(const dynamixel_base::comm_t &comm, const std::string &group_name, int &temperature_deg)

inline virtual void push_back_position_for_sync_write(const double position_rad, std::vector<uint8_t> &write_data)

inline virtual void push_back_velocity_for_sync_write(const double velocity_rps, std::vector<uint8_t> &write_data)

inline virtual void push_back_current_for_sync_write(const double current_ampere, std::vector<uint8_t> &write_data)

Protected Attributes

uint8_t id_

std::string name_