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Dependencies: 3W_8Dir_p2pcontrol mbed
Fork of DXL_SDK_For_F446RE by
Diff: dynamixel.h
- Revision:
- 0:bf4774b25188
- Child:
- 3:e2e9064c668d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/dynamixel.h Wed Feb 08 02:49:39 2017 +0000 @@ -0,0 +1,107 @@ +// Dynamixel SDK platform independent header +#ifndef _DYNAMIXEL_HEADER +#define _DYNAMIXEL_HEADER + + +#ifdef __cplusplus +extern "C" { +#endif + + +///////////// device control methods //////////////////////// +int dxl_initialize( int devIndex, int baudnum ); +void dxl_terminate(void); + + +///////////// set/get packet methods ////////////////////////// +void dxl_set_txpacket_id( int id ); +#define BROADCAST_ID (254) + +void dxl_set_txpacket_instruction( int instruction ); +#define INST_PING (1) +#define INST_READ (2) +#define INST_WRITE (3) +#define INST_REG_WRITE (4) +#define INST_ACTION (5) +#define INST_RESET (6) +#define INST_SYNC_WRITE (131) + +#define MAXNUM_TXPARAM (150) +void dxl_set_txpacket_parameter( int index, int value ); +void dxl_set_txpacket_length( int length ); + +int dxl_get_rxpacket_error( int errbit ); +#define ERRBIT_VOLTAGE (1) +#define ERRBIT_ANGLE (2) +#define ERRBIT_OVERHEAT (4) +#define ERRBIT_RANGE (8) +#define ERRBIT_CHECKSUM (16) +#define ERRBIT_OVERLOAD (32) +#define ERRBIT_INSTRUCTION (64) + +#define MAXNUM_RXPARAM (60) +int dxl_get_rxpacket_parameter( int index ); +int dxl_get_rxpacket_length(void); + +// utility for value +int dxl_makeword( int lowbyte, int highbyte ); +int dxl_get_lowbyte( int word ); +int dxl_get_highbyte( int word ); + + +////////// packet communication methods /////////////////////// +void dxl_tx_packet(void); +void dxl_rx_packet(void); +void dxl_txrx_packet(void); + +int dxl_get_result(void); +#define COMM_TXSUCCESS (0) +#define COMM_RXSUCCESS (1) +#define COMM_TXFAIL (2) +#define COMM_RXFAIL (3) +#define COMM_TXERROR (4) +#define COMM_RXWAITING (5) +#define COMM_RXTIMEOUT (6) +#define COMM_RXCORRUPT (7) + + +//MX64 Register stanley/// +#define GOAL_POSITION 30 +#define PRESENT_POS 36 +#define ID_ADDRESS 3 +#define CW_ANGLE_LIMIT_L 6 +#define CW_ANGLE_LIMIT_H 7 +#define CCW_ANGLE_LIMIT_L 8 +#define CCW_ANGLE_LIMIT_H 9 +#define MOVING 46 +#define XL_MOVING 49 +#define GOAL_POSITION 30 +#define PRESENT_POS 36 +#define ID_ADDRESS 3 +#define MOVING 46 +#define XL_MOVING 49 +#define CW_ANGLE_LIMIT_L 6 +#define CW_ANGLE_LIMIT_H 7 +#define CCW_ANGLE_LIMIT_L 8 +#define CCW_ANGLE_LIMIT_H 9 +#define ADDRESS_LED 0x19 + + +//////////// high communication methods /////////////////////// +void dxl_ping( int id ); +int dxl_read_byte( int id, int address ); +void dxl_write_byte( int id, int address, int value ); +int dxl_read_word( int id, int address ); +void dxl_write_word( int id, int address, int value ); +int syncWrite(int start_addr, int data_length, int *param, int param_length); // WORD(16bit) syncwrite() for DXL +void setPosition(int ServoID, int Position, int Speed);//stanley + + + + + +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file