Diff: dynamixel.h

Revision:

0:a49e4e666e2d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamixel.h	Tue Sep 12 13:22:08 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 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