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Dependencies: 3W_8Dir_p2pcontrol mbed
Fork of DXL_SDK_For_F446RE by
dynamixel.h
- Committer:
- stanley1228
- Date:
- 2017-02-10
- Revision:
- 5:edccfcb47ab8
- Parent:
- 4:44560391db99
File content as of revision 5:edccfcb47ab8:
// 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 ID_ADDRESS 3 #define GOAL_POSITION 30 #define PRESENT_POS 36 #define RETURN_DELAY_TIME 5 #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 MAX_TORQUE 14 #define MULTITURN_OFFSET 20 #define GOAL_POSITION 30 #define GOAL_SPEED 32 #define TORQUE_LIMIT 34 #define PRESENT_POS 36 #define STILL_MOVING 46 #define ADDRESS_LED 25 //////////// 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( short int id, short int address ); void dxl_write_word( short int id, short int address, short int value ); int syncWrite_u16base(unsigned short int start_addr, unsigned short int data_length, unsigned short int *param, unsigned short int param_length); // WORD(16bit) syncwrite() for DXL void setPosition(int ServoID, int Position, int Speed);//stanley #ifdef __cplusplus } #endif #endif