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