Class DynamixelX

Defined in File dynamixel_x.hpp

Inheritance Relationships

Base Type

public dynamixel_base::DynamixelBase (Class DynamixelBase)

Derived Types

public dynamixel_xh430::DynamixelXH430 (Class DynamixelXH430)
public dynamixel_xh540::DynamixelXH540 (Class DynamixelXH540)
public dynamixel_xm430::DynamixelXM430 (Class DynamixelXM430)
public dynamixel_xm540::DynamixelXM540 (Class DynamixelXM540)

Class Documentation

class DynamixelX : public dynamixel_base::DynamixelBase 

Subclassed by dynamixel_xh430::DynamixelXH430, dynamixel_xh540::DynamixelXH540, dynamixel_xm430::DynamixelXM430, dynamixel_xm540::DynamixelXM540

Public Functions

explicit DynamixelX(const uint8_t id, const int home_position = 2048)

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual unsigned int to_profile_acceleration(const double acceleration_rpss)

virtual unsigned int to_profile_velocity(const double velocity_rps)

virtual double to_position_radian(const int position)

virtual double to_velocity_rps(const int velocity)

virtual double to_current_ampere(const int current)

virtual double to_voltage_volt(const int voltage)

virtual unsigned int from_position_radian(const double position_rad)

virtual unsigned int from_velocity_rps(const double velocity_rps)

virtual unsigned int from_current_ampere(const double current_ampere)

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

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

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

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

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

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

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

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

virtual unsigned int indirect_addr_of_present_position(void)

virtual unsigned int indirect_addr_of_present_velocity(void)

virtual unsigned int indirect_addr_of_present_current(void)

virtual unsigned int indirect_addr_of_present_input_voltage(void)

virtual unsigned int indirect_addr_of_present_temperature(void)

virtual unsigned int indirect_addr_of_goal_position(void)

virtual unsigned int indirect_addr_of_goal_velocity(void)

virtual unsigned int indirect_addr_of_goal_current(void)

virtual unsigned int start_address_for_indirect_read(void)

virtual unsigned int length_of_indirect_data_read(void)

virtual unsigned int next_indirect_addr_read(void) const

virtual unsigned int start_address_for_indirect_write(void)

virtual unsigned int length_of_indirect_data_write(void)

virtual unsigned int next_indirect_addr_write(void) const

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

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

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

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

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

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

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

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

Protected Functions

bool set_indirect_address_read(const dynamixel_base::comm_t &comm, const uint16_t addr, const uint16_t len, uint16_t &indirect_addr)

bool set_indirect_address_write(const dynamixel_base::comm_t &comm, const uint16_t addr, const uint16_t len, uint16_t &indirect_addr)

Protected Attributes

int HOME_POSITION_

unsigned int total_length_of_indirect_addr_read_

unsigned int total_length_of_indirect_addr_write_

uint16_t indirect_addr_of_present_position_

uint16_t indirect_addr_of_present_velocity_

uint16_t indirect_addr_of_present_current_

uint16_t indirect_addr_of_present_input_voltage_

uint16_t indirect_addr_of_present_temperature_

uint16_t indirect_addr_of_goal_position_

uint16_t indirect_addr_of_goal_velocity_

uint16_t indirect_addr_of_goal_current_