AECL 601 / 3W_8Dir_p2pcontrol

123

dynamixel.h@0:a49e4e666e2d, 2017-09-12 (annotated)

Committer:
peter16688
Date:
Tue Sep 12 13:22:08 2017 +0000
Revision:
0:a49e4e666e2d
3WOK_8dir_1m_PD_p2pcontrol

Who changed what in which revision?

UserRevisionLine numberNew contents of line
peter16688 0:a49e4e666e2d 1 // Dynamixel SDK platform independent header
peter16688 0:a49e4e666e2d 2 #ifndef _DYNAMIXEL_HEADER
peter16688 0:a49e4e666e2d 3 #define _DYNAMIXEL_HEADER
peter16688 0:a49e4e666e2d 4
peter16688 0:a49e4e666e2d 5
peter16688 0:a49e4e666e2d 6 #ifdef __cplusplus
peter16688 0:a49e4e666e2d 7 extern "C" {
peter16688 0:a49e4e666e2d 8 #endif
peter16688 0:a49e4e666e2d 9
peter16688 0:a49e4e666e2d 10
peter16688 0:a49e4e666e2d 11 ///////////// device control methods ////////////////////////
peter16688 0:a49e4e666e2d 12 int dxl_initialize( int devIndex, int baudnum );
peter16688 0:a49e4e666e2d 13 void dxl_terminate(void);
peter16688 0:a49e4e666e2d 14
peter16688 0:a49e4e666e2d 15
peter16688 0:a49e4e666e2d 16 ///////////// set/get packet methods //////////////////////////
peter16688 0:a49e4e666e2d 17 void dxl_set_txpacket_id( int id );
peter16688 0:a49e4e666e2d 18 #define BROADCAST_ID (254)
peter16688 0:a49e4e666e2d 19
peter16688 0:a49e4e666e2d 20 void dxl_set_txpacket_instruction( int instruction );
peter16688 0:a49e4e666e2d 21 #define INST_PING (1)
peter16688 0:a49e4e666e2d 22 #define INST_READ (2)
peter16688 0:a49e4e666e2d 23 #define INST_WRITE (3)
peter16688 0:a49e4e666e2d 24 #define INST_REG_WRITE (4)
peter16688 0:a49e4e666e2d 25 #define INST_ACTION (5)
peter16688 0:a49e4e666e2d 26 #define INST_RESET (6)
peter16688 0:a49e4e666e2d 27 #define INST_SYNC_WRITE (131)
peter16688 0:a49e4e666e2d 28
peter16688 0:a49e4e666e2d 29 #define MAXNUM_TXPARAM (150)
peter16688 0:a49e4e666e2d 30 void dxl_set_txpacket_parameter( int index, int value );
peter16688 0:a49e4e666e2d 31 void dxl_set_txpacket_length( int length );
peter16688 0:a49e4e666e2d 32
peter16688 0:a49e4e666e2d 33 int dxl_get_rxpacket_error( int errbit );
peter16688 0:a49e4e666e2d 34 #define ERRBIT_VOLTAGE (1)
peter16688 0:a49e4e666e2d 35 #define ERRBIT_ANGLE (2)
peter16688 0:a49e4e666e2d 36 #define ERRBIT_OVERHEAT (4)
peter16688 0:a49e4e666e2d 37 #define ERRBIT_RANGE (8)
peter16688 0:a49e4e666e2d 38 #define ERRBIT_CHECKSUM (16)
peter16688 0:a49e4e666e2d 39 #define ERRBIT_OVERLOAD (32)
peter16688 0:a49e4e666e2d 40 #define ERRBIT_INSTRUCTION (64)
peter16688 0:a49e4e666e2d 41
peter16688 0:a49e4e666e2d 42 #define MAXNUM_RXPARAM (60)
peter16688 0:a49e4e666e2d 43 int dxl_get_rxpacket_parameter( int index );
peter16688 0:a49e4e666e2d 44 int dxl_get_rxpacket_length(void);
peter16688 0:a49e4e666e2d 45
peter16688 0:a49e4e666e2d 46 // utility for value
peter16688 0:a49e4e666e2d 47 int dxl_makeword( int lowbyte, int highbyte );
peter16688 0:a49e4e666e2d 48 int dxl_get_lowbyte( int word );
peter16688 0:a49e4e666e2d 49 int dxl_get_highbyte( int word );
peter16688 0:a49e4e666e2d 50
peter16688 0:a49e4e666e2d 51
peter16688 0:a49e4e666e2d 52 ////////// packet communication methods ///////////////////////
peter16688 0:a49e4e666e2d 53 void dxl_tx_packet(void);
peter16688 0:a49e4e666e2d 54 void dxl_rx_packet(void);
peter16688 0:a49e4e666e2d 55 void dxl_txrx_packet(void);
peter16688 0:a49e4e666e2d 56
peter16688 0:a49e4e666e2d 57 int dxl_get_result(void);
peter16688 0:a49e4e666e2d 58 #define COMM_TXSUCCESS (0)
peter16688 0:a49e4e666e2d 59 #define COMM_RXSUCCESS (1)
peter16688 0:a49e4e666e2d 60 #define COMM_TXFAIL (2)
peter16688 0:a49e4e666e2d 61 #define COMM_RXFAIL (3)
peter16688 0:a49e4e666e2d 62 #define COMM_TXERROR (4)
peter16688 0:a49e4e666e2d 63 #define COMM_RXWAITING (5)
peter16688 0:a49e4e666e2d 64 #define COMM_RXTIMEOUT (6)
peter16688 0:a49e4e666e2d 65 #define COMM_RXCORRUPT (7)
peter16688 0:a49e4e666e2d 66
peter16688 0:a49e4e666e2d 67
peter16688 0:a49e4e666e2d 68 //MX64 Register stanley///
peter16688 0:a49e4e666e2d 69 #define ID_ADDRESS 3
peter16688 0:a49e4e666e2d 70 #define GOAL_POSITION 30
peter16688 0:a49e4e666e2d 71 #define PRESENT_POS 36
peter16688 0:a49e4e666e2d 72 #define RETURN_DELAY_TIME 5
peter16688 0:a49e4e666e2d 73 #define CW_ANGLE_LIMIT_L 6
peter16688 0:a49e4e666e2d 74 #define CW_ANGLE_LIMIT_H 7
peter16688 0:a49e4e666e2d 75 #define CCW_ANGLE_LIMIT_L 8
peter16688 0:a49e4e666e2d 76 #define CCW_ANGLE_LIMIT_H 9
peter16688 0:a49e4e666e2d 77 #define MAX_TORQUE 14
peter16688 0:a49e4e666e2d 78 #define MULTITURN_OFFSET 20
peter16688 0:a49e4e666e2d 79 #define GOAL_POSITION 30
peter16688 0:a49e4e666e2d 80 #define GOAL_SPEED 32
peter16688 0:a49e4e666e2d 81 #define TORQUE_LIMIT 34
peter16688 0:a49e4e666e2d 82 #define PRESENT_POS 36
peter16688 0:a49e4e666e2d 83
peter16688 0:a49e4e666e2d 84 #define STILL_MOVING 46
peter16688 0:a49e4e666e2d 85
peter16688 0:a49e4e666e2d 86
peter16688 0:a49e4e666e2d 87 #define ADDRESS_LED 25
peter16688 0:a49e4e666e2d 88
peter16688 0:a49e4e666e2d 89
peter16688 0:a49e4e666e2d 90 //////////// high communication methods ///////////////////////
peter16688 0:a49e4e666e2d 91 void dxl_ping( int id );
peter16688 0:a49e4e666e2d 92 int dxl_read_byte( int id, int address );
peter16688 0:a49e4e666e2d 93 void dxl_write_byte( int id, int address, int value );
peter16688 0:a49e4e666e2d 94 int dxl_read_word( short int id, short int address );
peter16688 0:a49e4e666e2d 95 void dxl_write_word( short int id, short int address, short int value );
peter16688 0:a49e4e666e2d 96 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
peter16688 0:a49e4e666e2d 97 void setPosition(int ServoID, int Position, int Speed);//stanley
peter16688 0:a49e4e666e2d 98
peter16688 0:a49e4e666e2d 99
peter16688 0:a49e4e666e2d 100
peter16688 0:a49e4e666e2d 101
peter16688 0:a49e4e666e2d 102
peter16688 0:a49e4e666e2d 103 #ifdef __cplusplus
peter16688 0:a49e4e666e2d 104 }
peter16688 0:a49e4e666e2d 105 #endif
peter16688 0:a49e4e666e2d 106
peter16688 0:a49e4e666e2d 107 #endif