Class Dynamixel

Defined in File dynamixel.hpp

Class Documentation

class Dynamixel

Public Functions

explicit Dynamixel(const char *path)

~Dynamixel()

DxlError SetupPort(const std::string &port_name, const std::string &baudrate)

DxlError InitDxlComm(uint8_t comm_id, uint8_t id)

DxlError Reboot(uint8_t id)

void RWDataReset()

DxlError SetDxlReadItems(uint8_t comm_id, uint8_t id, std::vector<std::string> item_names, std::vector<std::shared_ptr<double>> data_vec_ptr)

DxlError SetMultiDxlRead()

DxlError SetDxlWriteItems(uint8_t comm_id, uint8_t id, std::vector<std::string> item_names, std::vector<std::shared_ptr<double>> data_vec_ptr)

DxlError SetMultiDxlWrite()

DxlError ReadMultiDxlData(double period_ms)

DxlError WriteMultiDxlData()

DxlError DynamixelEnable(const std::vector<std::pair<uint8_t, uint8_t>> &comm_id_id_arr)

DxlError DynamixelDisable(const std::vector<std::pair<uint8_t, uint8_t>> &comm_id_id_arr)

DxlError WriteItem(uint8_t comm_id, uint8_t id, std::string item_name, uint32_t data)

DxlError WriteItem(uint8_t comm_id, uint8_t id, uint16_t addr, uint8_t size, uint32_t data)

DxlError InsertWriteItemBuf(uint8_t id, std::string item_name, uint32_t data)

DxlError WriteItemBuf()

DxlError ReadItem(uint8_t comm_id, uint8_t id, std::string item_name, uint32_t &data)

DxlError InsertReadItemBuf(uint8_t id, std::string item_name)

DxlError ReadItemBuf()

bool CheckReadItemBuf(uint8_t id, std::string item_name)

uint32_t GetReadItemDataBuf(uint8_t id, std::string item_name)

inline DynamixelInfo GetDxlInfo()

inline std::map<std::pair<uint8_t, uint8_t>, bool> GetDxlTorqueState()

DxlError ReadDxlModelFile(uint8_t comm_id, uint8_t id, uint16_t model_num)

DxlError ReadDxlModelFile(uint8_t comm_id, uint8_t id, uint16_t model_num, uint8_t firmware_version)

DxlError ReadFirmwareVersion(uint8_t comm_id, uint8_t id, uint8_t &firmware_version)

DxlError InitTorqueStates(std::vector<std::pair<uint8_t, uint8_t>> comm_id_id_arr, bool disable_torque = false)

void OverrideUnitInfo(uint8_t comm_id, uint8_t id, const std::string &data_name, double unit_multiplier, bool is_signed, double offset_value)

Public Static Functions

static std::string DxlErrorToString(DxlError error_num)