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Dependencies: 3W_8Dir_p2pcontrol mbed
Fork of DXL_SDK_For_F446RE by
Diff: dynamixel.h
- Revision:
- 6:1fe7b6875e86
- Parent:
- 5:edccfcb47ab8
diff -r edccfcb47ab8 -r 1fe7b6875e86 dynamixel.h --- a/dynamixel.h Fri Feb 10 22:55:30 2017 +0800 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,107 +0,0 @@ -// 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 \ No newline at end of file