MX28 servo control class. More...

#include <MX28.h>

Public Member Functions
uint8_t	CommunicatePacket (MX28_PROTOCOL_PACKET *packet)
	Send the MX28 packet over the serial half duplex connection.
uint8_t	GetModelNumber (uint8_t servoId, uint16_t *modelNumber)
	Get the servo model number.
uint8_t	GetFirmwareVersion (uint8_t servoId, uint8_t *firmwareVersion)
	Get the servo firmware version.
uint8_t	GetId (uint8_t servoId, uint8_t *id)
	Get the servo id.
uint8_t	SetId (uint8_t servoId, uint8_t newId, bool isRegWrite=false)
	Set the servo id.
uint8_t	GetBaudRate (uint8_t servoId, int32_t *baudRate)
	Get the servo baudrate.
uint8_t	SetBaudRate (uint8_t servoId, int baudRate, bool isRegWrite=false)
	Set the servo baudrate.
uint8_t	GetReturnDelayTime (uint8_t servoId, uint8_t *returnDelayTime)
	Get the servo return delay time.
uint8_t	SetReturnDelayTime (uint8_t servoId, uint8_t returnDelayTime, bool isRegWrite=false)
	Set the servo delay time.
uint8_t	GetCWAngleLimit (uint8_t servoId, uint16_t *cwAngleLimit)
	Get the servo clockwise angle limit.
uint8_t	SetCWAngleLimit (uint8_t servoId, uint16_t cwAngleLimit, bool isRegWrite=false)
	Set the servo clockwise angle limit.
uint8_t	GetCCWAngleLimit (uint8_t servoId, uint16_t *ccwAngleLimit)
	Get the servo counterclockwise angle limit.
uint8_t	SetCCWAngleLimit (uint8_t servoId, uint16_t ccwAngleLimit, bool isRegWrite=false)
	Set the servo counterclockwise angle limit.
uint8_t	GetHighestTemperatureLimit (uint8_t servoId, uint8_t *highestTemperatureLimit)
	Get the servo up temperature limit.
uint8_t	SetHighestTemperatureLimit (uint8_t servoId, uint8_t highestTemperatureLimit, bool isRegWrite=false)
	Set the servo highest temperature limit.
uint8_t	GetLowestVoltageLimit (uint8_t servoId, uint8_t *lowestVoltageLimit)
	Get the servo lowest voltage limit.
uint8_t	SetLowestVoltageLimit (uint8_t servoId, uint8_t lowestVoltageLimit, bool isRegWrite=false)
	Set the servo lowest voltage limit.
uint8_t	GetHighestVoltageLimit (uint8_t servoId, uint8_t *highestVoltageLimit)
	Get the servo highest voltage limit.
uint8_t	SetHighestVoltageLimit (uint8_t servoId, uint8_t highestVoltageLimit, bool isRegWrite=false)
	Set the servo highest voltage limit.
uint8_t	GetMaxTorque (uint8_t servoId, uint16_t *maxTorque)
	Get the servo max torque.
uint8_t	SetMaxTorque (uint8_t servoId, uint16_t maxTorque, bool isRegWrite=false)
	Set the servo max torque.
uint8_t	GetStatusReturnLevel (uint8_t servoId, uint8_t *statusReturnLevel)
	Get the servo status return level.
uint8_t	SetStatusReturnLevel (uint8_t servoId, uint8_t statusReturnLevel, bool isRegWrite=false)
	Set the servo status return level.
uint8_t	GetAlarmLED (uint8_t servoId, uint8_t *alarmLED)
	Get the servo alarm LED.
uint8_t	SetAlarmLED (uint8_t servoId, uint8_t alarmLED, bool isRegWrite=false)
	Set the servo alarm LED.
uint8_t	GetAlarmShutdown (uint8_t servoId, uint8_t *alarmShutdown)
	Get the servo alarm shutdown.
uint8_t	SetAlarmShutdown (uint8_t servoId, uint8_t alarmShutdown, bool isRegWrite=false)
	Set the servo alarm shutdown.
uint8_t	GetEnableTorque (uint8_t servoId, uint8_t *enableTorque)
	Get the servo enable torque.
uint8_t	SetEnableTorque (uint8_t servoId, uint8_t enableTorque, bool isRegWrite=false)
	Set the servo enable torque.
uint8_t	GetEnableLED (uint8_t servoId, uint8_t *enableLED)
	Get the servo enable LED.
uint8_t	SetEnableLED (uint8_t servoId, uint8_t enableLED, bool isRegWrite=false)
	Set the servo enable LED.
uint8_t	GetPGain (uint8_t servoId, uint8_t *pGain)
	Get the servo P gain.
uint8_t	SetPGain (uint8_t servoId, uint8_t pGain, bool isRegWrite=false)
	Set the servo P gain.
uint8_t	GetIGain (uint8_t servoId, uint8_t *iGain)
	Get the servo I gain.
uint8_t	SetIGain (uint8_t servoId, uint8_t iGain, bool isRegWrite=false)
	Set the servo I gain.
uint8_t	GetDGain (uint8_t servoId, uint8_t *dGain)
	Get the servo D gain.
uint8_t	SetDGain (uint8_t servoId, uint8_t dGain, bool isRegWrite=false)
	Set the servo D gain.
uint8_t	GetGoalPosition (uint8_t servoId, uint16_t *goalPosition)
	Get the servo goal position.
uint8_t	SetGoalPosition (uint8_t servoId, uint16_t goalPosition, bool isRegWrite=false)
	Set the servo goal position.
uint8_t	GetMovingSpeed (uint8_t servoId, uint16_t *movingSpeed)
	Get the servo moving speed.
uint8_t	SetMovingSpeed (uint8_t servoId, uint16_t movingSpeed, bool isRegWrite=false)
	Set the servo moving speed.
uint8_t	GetTorqueLimit (uint8_t servoId, uint16_t *torqueLimit)
	Get the servo torque limit.
uint8_t	SetTorqueLimit (uint8_t servoId, uint16_t torqueLimit, bool isRegWrite=false)
	Set the servo torque limit.
uint8_t	GetPresentPosition (uint8_t servoId, uint16_t *presentPosition)
	Get the servo present position.
uint8_t	GetPresentSpeed (uint8_t servoId, uint16_t *presentSpeed)
	Get the servo present speed.
uint8_t	GetPresentLoad (uint8_t servoId, uint16_t *presentLoad)
	Get the servo present load.
uint8_t	GetPresentVoltage (uint8_t servoId, uint8_t *presentVoltage)
	Get the servo present voltage.
uint8_t	GetPresentTemperature (uint8_t servoId, uint8_t *presentTemperature)
	Get the servo present temperature.
uint8_t	GetIsRegistered (uint8_t servoId, uint8_t *isRegistered)
	Get if there are commands transmitted by MX28_REG_WRITE.
uint8_t	GetIsMoving (uint8_t servoId, uint8_t *isMoving)
	Get if the servo is moving.
uint8_t	GetIsLocked (uint8_t servoId, uint8_t *isLocked)
	Get if the servo EEPROM is locked.
uint8_t	SetIsLocked (uint8_t servoId, uint8_t isLocked, bool isRegWrite=false)
	Set if the servo EEPROM is locked.
uint8_t	GetPunch (uint8_t servoId, uint16_t *punch)
	Get the servo punch.
uint8_t	SetPunch (uint8_t servoId, uint16_t punch, bool isRegWrite=false)
	Set the servo punch.
uint8_t	Ping (uint8_t servoId)
	Ping the servo.
uint8_t	Reset (uint8_t servoId)
	Reset the servo.
uint8_t	Action (uint8_t servoId)
	Trigger the servo.
	MX28 (PinName tx, PinName rx, int baudRate)
	Create an MX28 servo object connected to the specified serial half duplex pins, with the specified baudrate.
	~MX28 ()
	Destroy an MX28 servo object.

Detailed Description

MX28 servo control class.

Example:

 #include "mbed.h"
 #include "MX28.h"
 
 Serial pc(USBTX, USBRX);
 MX28 mx28(p28, p27, 57600);

 int main() 
 {
    pc.baud(115200);   
    
    pc.getc();
    pc.printf("======================================================\r\n"); 
    
   uint8_t servoId = 0x01;
    
    uint16_t modelNumber;        
    mx28.GetModelNumber(servoId, &modelNumber);
    
    uint8_t firmwareVersion;        
    mx28.GetFirmwareVersion(servoId, &firmwareVersion);
    
    uint8_t id;        
    mx28.GetId(servoId, &id);               
    mx28.SetId(servoId, servoId);
    
    int32_t baudRate;
    mx28.GetBaudRate(servoId, &baudRate);    
    mx28.SetBaudRate(servoId, 57600); 
    
    uint8_t returnDelayTime;
    mx28.GetReturnDelayTime(servoId, &returnDelayTime);     
    mx28.SetReturnDelayTime(servoId, 0xFA); 
    
    uint16_t cwAngleLimit;
    mx28.GetCWAngleLimit(servoId, &cwAngleLimit);
    mx28.SetCWAngleLimit(servoId, 0x0000);
    
    uint16_t ccwAngleLimit;
    mx28.GetCCWAngleLimit(servoId, &ccwAngleLimit);    
    mx28.SetCCWAngleLimit(servoId, 0x0FFF);
    
    uint8_t highestTemperatureLimit;
    mx28.GetHighestTemperatureLimit(servoId, &highestTemperatureLimit);       
    mx28.SetHighestTemperatureLimit(servoId, 0x50);
    
    uint8_t downLimitVoltage;
    mx28.GetLowestVoltageLimit(servoId, &downLimitVoltage);       
    mx28.SetLowestVoltageLimit(servoId, 0x3C);
   
    uint8_t upLimitVoltage;
    mx28.GetHighestVoltageLimit(servoId, &upLimitVoltage);       
    mx28.SetHighestVoltageLimit(servoId, 0xA0);
    
    uint16_t maxTorque;
    mx28.GetMaxTorque(servoId, &maxTorque);    
    mx28.SetMaxTorque(servoId, 0x03FF);
    
    uint8_t statusReturnLevel;        
    mx28.GetStatusReturnLevel(servoId, &statusReturnLevel);
    mx28.SetStatusReturnLevel(servoId, 0x02);
    
    uint8_t alarmLED;        
    mx28.GetAlarmLED(servoId, &alarmLED);           
    mx28.SetAlarmLED(servoId, 0x24);
    
    uint8_t alarmShutdown;        
    mx28.GetAlarmShutdown(servoId, &alarmShutdown);           
    mx28.SetAlarmShutdown(servoId, 0x24); 
            
    uint8_t enableTorque;   
    mx28.GetEnableTorque(servoId, &enableTorque);    
    mx28.SetEnableTorque(servoId, 0x00);
    
    uint8_t enableLED;   
    mx28.GetEnableLED(servoId, &enableLED);    
    mx28.SetEnableLED(servoId, 0x00);
    
    uint8_t pGain;        
    mx28.GetPGain(servoId, &pGain);           
    mx28.SetPGain(servoId, 0x20);
    
    uint8_t iGain;        
    mx28.GetIGain(servoId, &iGain);           
    mx28.SetIGain(servoId, 0x00);
    
    uint8_t dGain;        
    mx28.GetDGain(servoId, &dGain);           
    mx28.SetDGain(servoId, 0x00);
    
    uint16_t goalPosition;
    mx28.GetGoalPosition(servoId, &goalPosition);     
    mx28.SetGoalPosition(servoId, 0x0800);
    
    uint16_t movingSpeed;
    mx28.GetMovingSpeed(servoId, &movingSpeed);     
    mx28.SetMovingSpeed(servoId, 0x00FF);
    
    uint16_t torqueLimit;
    mx28.GetTorqueLimit(servoId, &torqueLimit);     
    mx28.SetTorqueLimit(servoId, 0x03FF);
    
    uint16_t presentPosition;
    mx28.GetPresentPosition(servoId, &presentPosition);
    
    uint16_t presentSpeed;
    mx28.GetPresentSpeed(servoId, &presentSpeed); 

    uint16_t presentLoad;
    mx28.GetPresentLoad(servoId, &presentLoad);     
    
    uint8_t presentVoltage;        
    mx28.GetPresentVoltage(servoId, &presentVoltage);
    
    uint8_t presentTemperature;        
    mx28.GetPresentTemperature(servoId, &presentTemperature);
    
    uint8_t isRegistered;   

    mx28.GetIsRegistered(servoId, &isRegistered);
    
    uint8_t isMoving;   
    mx28.GetIsMoving(servoId, &isMoving);
    
    uint8_t lock;        
    mx28.GetIsLocked(servoId, &lock);           
    mx28.SetIsLocked(servoId, 0x00); 
    
    uint16_t punch;
    mx28.GetPunch(servoId, &punch);     
    mx28.SetPunch(servoId, 0x0020);
    
    mx28.Ping(servoId);
    
    mx28.Reset(servoId);
    
    uint8_t servo1Id = 0x01;
    uint8_t servo2Id = 0x02;
    uint8_t servo3Id = 0x03;
    
    uint16_t servo1GoalPosition = 0x0800;
    uint16_t servo2GoalPosition = 0x0800;
    uint16_t servo3GoalPosition = 0x0800;
    
    MX28_PROTOCOL_PACKET packet;
    packet.servoId = MX28_PROTOCOL_BROADCAST_ID;
    // (Data length + 1) * Number of servos + 4
    packet.length = (2+ 1) * 3 + 4;             
    packet.instructionErrorId = MX28_SYNC_WRITE;
    packet.parameter[0] = MX28_GOAL_POSITION_L;
    packet.parameter[1] = 0x06;
    packet.parameter[2] = servo1Id;
    Utilities::ConvertUInt16ToUInt8Array(servo1GoalPosition, (uint8_t*)&(packet.parameter[3]));    
    packet.parameter[9] = servo2Id;
    Utilities::ConvertUInt16ToUInt8Array(servo2GoalPosition, (uint8_t*)&(packet.parameter[10]));
    packet.parameter[16] = servo3Id;
    Utilities::ConvertUInt16ToUInt8Array(servo3GoalPosition, (uint8_t*)&(packet.parameter[17]));
   
    pc.printf("Set servos goal positions: %hu %hu %hu\r\n", servo1GoalPosition, servo2GoalPosition, servo3GoalPosition);
    
    mx28.CommunicatePacket(&packet);
          
    packet.servoId = servoId;
    packet.length = 4;
    packet.instructionErrorId = MX28_READ_DATA;
    packet.parameter[0] = MX28_PRESENT_POSITION_L;
    packet.parameter[1] = 0x08;
 
    mx28.CommunicatePacket(&packet);
    
    presentPosition = Utilities::ConvertUInt8ArrayToUInt16(packet.parameter);
    presentSpeed = Utilities::ConvertUInt8ArrayToUInt16((uint8_t*)&(packet.parameter[2]));   
    presentLoad = Utilities::ConvertUInt8ArrayToUInt16((uint8_t*)&(packet.parameter[4]));    
    presentVoltage = packet.parameter[6];
    presentTemperature = packet.parameter[7];
        
    pc.printf("Present position: %hu\r\n", presentPosition);
    pc.printf("Present speed: %hu\r\n", presentSpeed);
    pc.printf("Present load: %hu\r\n", presentLoad);
    pc.printf("Present voltage: 0x%02X\r\n", presentVoltage);
    pc.printf("Present temperature: 0x%02X\r\n", presentTemperature);             
        
    uint8_t status = mx28.GetModelNumber(servoId, &modelNumber);
   
    if(status == MX28_ERRBIT_WRITE_TIMEOUT)
        pc.printf("Error: Write timeout\r\n");
    else if(status == MX28_ERRBIT_READ_TIMEOUT) 
        pc.printf("Error: Read timeout\r\n");
    else if(status == MX28_ERRBIT_MASTER_CHECKSUM) 
        pc.printf("Error: Master checksum error\r\n");
    else
    {
        if(status & MX28_ERRBIT_VOLTAGE)
            pc.printf("Error: Input voltage error\r\n");
        if(status & MX28_ERRBIT_ANGLE)
            pc.printf("Error: Angle limit error\r\n");
        if(status & MX28_ERRBIT_OVERHEAT)
            pc.printf("Error: Overheat error\r\n");
        if(status & MX28_ERRBIT_RANGE)
            pc.printf("Error: Out of range error\r\n");
        if(status & MX28_ERRBIT_CHECKSUM)
            pc.printf("Error: Checksum error\r\n");
        if(status & MX28_ERRBIT_OVERLOAD)
            pc.printf("Error: Overload error\r\n");
        if(status & MX28_ERRBIT_INSTRUCTION)
            pc.printf("Error: Instruction code error\r\n");
    }
    
    pc.printf("======================================================\r\n"); 
 
    return 0;           
 }

Definition at line 252 of file MX28.h.

Constructor & Destructor Documentation

MX28	(	PinName	tx,
		PinName	rx,
		int	baudRate
	)

Create an MX28 servo object connected to the specified serial half duplex pins, with the specified baudrate.

Parameters:

tx	Send pin.
rx	Receive pin.
baudrate	The bus speed.

Definition at line 1538 of file MX28.cpp.

~MX28 ( )

Destroy an MX28 servo object.

Definition at line 1556 of file MX28.cpp.

Member Function Documentation

uint8_t Action ( uint8_t servoId )

Trigger the servo.

Triggers the action registered by the REG_WRITE instruction

Parameters:

servoId The servo id.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1523 of file MX28.cpp.

uint8_t CommunicatePacket ( MX28_PROTOCOL_PACKET * packet )

Send the MX28 packet over the serial half duplex connection.

Parameters:

packet The MX28 packet.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 27 of file MX28.cpp.

uint8_t GetAlarmLED	(	uint8_t	servoId,
		uint8_t *	alarmLED
	)

Get the servo alarm LED.

Parameters:

servoId	The servo id.
alarmLED	The variable to store the alarm LED.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 833 of file MX28.cpp.

uint8_t GetAlarmShutdown	(	uint8_t	servoId,
		uint8_t *	alarmShutdown
	)

Get the servo alarm shutdown.

Parameters:

servoId	The servo id.
alarmShutdown	The variable to store the alarm shutdown.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 874 of file MX28.cpp.

uint8_t GetBaudRate	(	uint8_t	servoId,
		int32_t *	baudRate
	)

Get the servo baudrate.

Parameters:

servoId	The servo id.
baudRate	The variable to store the baudrate.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 446 of file MX28.cpp.

uint8_t GetCCWAngleLimit	(	uint8_t	servoId,
		uint16_t *	ccwAngleLimit
	)

Get the servo counterclockwise angle limit.

Parameters:

servoId	The servo id.
ccwAngleLimit	The variable to store the counterclockwise angle limit.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 587 of file MX28.cpp.

uint8_t GetCWAngleLimit	(	uint8_t	servoId,
		uint16_t *	cwAngleLimit
	)

Get the servo clockwise angle limit.

Parameters:

servoId	The servo id.
cwAngleLimit	The variable to store the clockwise angle limit.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 546 of file MX28.cpp.

uint8_t GetDGain	(	uint8_t	servoId,
		uint8_t *	dGain
	)

Get the servo D gain.

Parameters:

servoId	The servo id.
dGain	The variable to store the D gain.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1079 of file MX28.cpp.

uint8_t GetEnableLED	(	uint8_t	servoId,
		uint8_t *	enableLED
	)

Get the servo enable LED.

Parameters:

servoId	The servo id.
enableLED	The variable to store the enable LED.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 956 of file MX28.cpp.

uint8_t GetEnableTorque	(	uint8_t	servoId,
		uint8_t *	enableTorque
	)

Get the servo enable torque.

Parameters:

servoId	The servo id.
enableTorque	The variable to store the enable torque.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 915 of file MX28.cpp.

uint8_t GetFirmwareVersion	(	uint8_t	servoId,
		uint8_t *	firmwareVersion
	)

Get the servo firmware version.

Parameters:

servoId	The servo id.
firmwareVersion	The variable to store the model number.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 381 of file MX28.cpp.

uint8_t GetGoalPosition	(	uint8_t	servoId,
		uint16_t *	goalPosition
	)

Get the servo goal position.

Parameters:

servoId	The servo id.
goalPosition	The variable to store the goal position.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1120 of file MX28.cpp.

uint8_t GetHighestTemperatureLimit	(	uint8_t	servoId,
		uint8_t *	highestTemperatureLimit
	)

Get the servo up temperature limit.

Parameters:

servoId	The servo id.
highestTemperatureLimit	The variable to store the highest temperature limit.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 628 of file MX28.cpp.

uint8_t GetHighestVoltageLimit	(	uint8_t	servoId,
		uint8_t *	highestVoltageLimit
	)

Get the servo highest voltage limit.

Parameters:

servoId	The servo id.
highestVoltageLimit	The variable to store the highest voltage limit.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 710 of file MX28.cpp.

uint8_t GetId	(	uint8_t	servoId,
		uint8_t *	id
	)

Get the servo id.

Parameters:

servoId	The servo id.
id	The variable to store the id.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 405 of file MX28.cpp.

uint8_t GetIGain	(	uint8_t	servoId,
		uint8_t *	iGain
	)

Get the servo I gain.

Parameters:

servoId	The servo id.
iGain	The variable to store the I gain.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1038 of file MX28.cpp.

uint8_t GetIsLocked	(	uint8_t	servoId,
		uint8_t *	isLocked
	)

Get if the servo EEPROM is locked.

0 EEPROM area can be modified. 1 EEPROM area cannot be modified.

Parameters:

servoId	The servo id.
isLock	The variable to store if the servo EEPROM is locked.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1411 of file MX28.cpp.

uint8_t GetIsMoving	(	uint8_t	servoId,
		uint8_t *	isMoving
	)

Get if the servo is moving.

0 Goal position command execution is completed. 1 Goal position command execution is in progress.

Parameters:

servoId	The servo id.
isMoving	The variable to store if the servo is moving.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1387 of file MX28.cpp.

uint8_t GetIsRegistered	(	uint8_t	servoId,
		uint8_t *	isRegistered
	)

Get if there are commands transmitted by MX28_REG_WRITE.

0 There are no commands transmitted by REG_WRITE. 1 There are commands transmitted by REG_WRITE.

Parameters:

servoId	The servo id.
isRegistered	The variable to store if it is registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1363 of file MX28.cpp.

uint8_t GetLowestVoltageLimit	(	uint8_t	servoId,
		uint8_t *	lowestVoltageLimit
	)

Get the servo lowest voltage limit.

Parameters:

servoId	The servo id.
lowestVoltageLimit	The variable to store the lowest voltage limit.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 669 of file MX28.cpp.

uint8_t GetMaxTorque	(	uint8_t	servoId,
		uint16_t *	maxTorque
	)

Get the servo max torque.

Parameters:

servoId	The servo id.
maxTorque	The variable to store the max torque.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 751 of file MX28.cpp.

uint8_t GetModelNumber	(	uint8_t	servoId,
		uint16_t *	modelNumber
	)

Get the servo model number.

Parameters:

servoId	The servo id.
modelNumber	The variable to store the model number.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 357 of file MX28.cpp.

uint8_t GetMovingSpeed	(	uint8_t	servoId,
		uint16_t *	movingSpeed
	)

Get the servo moving speed.

Parameters:

servoId	The servo id.
movingSpeed	The variable to store the moving speed.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1161 of file MX28.cpp.

uint8_t GetPGain	(	uint8_t	servoId,
		uint8_t *	pGain
	)

Get the servo P gain.

Parameters:

servoId	The servo id.
pGain	The variable to store the P gain.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 997 of file MX28.cpp.

uint8_t GetPresentLoad	(	uint8_t	servoId,
		uint16_t *	presentLoad
	)

Get the servo present load.

The range of the value is 0~2047, and the unit is about 0.1%. If the value is 0~1023, it means the load works to the CCW direction. If the value is 1024~2047, it means the load works to the CW direction. That is, the 10th bit becomes the direction bit to control the direction, and 1024 is equal to 0. For example, the value is 512, it means the load is detected in the direction of CCW about 50% of the maximum torque.

Parameters:

servoId	The servo id.
presentLoad	The variable to store the present load.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1291 of file MX28.cpp.

uint8_t GetPresentPosition	(	uint8_t	servoId,
		uint16_t *	presentPosition
	)

Get the servo present position.

The range of the value is 0~4095 (0xFFF), and the unit is 0.088 degree.

Parameters:

servoId	The servo id.
presentPosition	The variable to store the present position.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1243 of file MX28.cpp.

uint8_t GetPresentSpeed	(	uint8_t	servoId,
		uint16_t *	presentSpeed
	)

Get the servo present speed.

0~2047 (0x000~0X7FF) can be used. If a value is in the rage of 0~1023 then the motor rotates to the CCW direction. If a value is in the rage of 1024~2047 then the motor rotates to the CW direction. The 10th bit becomes the direction bit to control the direction; 0 and 1024 are equal. The value unit is about 0.11rpm. For example, if it is set to 300 then the motor is moving to the CCW direction at a rate of about 34.33rpm.

Parameters:

servoId	The servo id.
presentSpeed	The variable to store the present speed.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1267 of file MX28.cpp.

uint8_t GetPresentTemperature	(	uint8_t	servoId,
		uint8_t *	presentTemperature
	)

Get the servo present temperature.

It is the internal temperature of Dynamixel in Celsius. Data value is identical to the actual temperature in Celsius. For example, if the data value is 85 (0x55), the current internal temperature is 85℃.

Parameters:

servoId	The servo id.
presentTemperature	The variable to store the present temperature.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1339 of file MX28.cpp.

uint8_t GetPresentVoltage	(	uint8_t	servoId,
		uint8_t *	presentVoltage
	)

Get the servo present voltage.

This value is 10 times larger than the actual voltage. For example, when 10V is supplied, the data value is 100 (0x64)

Parameters:

servoId	The servo id.
presentVoltage	The variable to store the present voltage.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1315 of file MX28.cpp.

uint8_t GetPunch	(	uint8_t	servoId,
		uint16_t *	punch
	)

Get the servo punch.

Can choose vales from 0x00 to 0x3FF.

Parameters:

servoId	The servo id.
punch	The variable to store the servo punch.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1452 of file MX28.cpp.

uint8_t GetReturnDelayTime	(	uint8_t	servoId,
		uint8_t *	returnDelayTime
	)

Get the servo return delay time.

Parameters:

servoId	The servo id.
returnDelayTime	The variable to store the return delay time.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 505 of file MX28.cpp.

uint8_t GetStatusReturnLevel	(	uint8_t	servoId,
		uint8_t *	statusReturnLevel
	)

Get the servo status return level.

Parameters:

servoId	The servo id.
statusReturnLevel	The variable to store the status return level.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 792 of file MX28.cpp.

uint8_t GetTorqueLimit	(	uint8_t	servoId,
		uint16_t *	torqueLimit
	)

Get the servo torque limit.

0 to 1023 (0x3FF) is available, and the unit is about 0.1%. For example, if the value is 512, it is about 50%; that means only 50% of the maximum torque will be used. If the power is turned on, the value of Max Torque (Address 14, 15) is used as the initial value.

Parameters:

servoId	The servo id.
torqueLimit	The variable to store the torque limit.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1202 of file MX28.cpp.

uint8_t Ping ( uint8_t servoId )

Ping the servo.

No action. Used for obtaining a Status Packet.

Parameters:

servoId The servo id.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1493 of file MX28.cpp.

uint8_t Reset ( uint8_t servoId )

Reset the servo.

Changes the control table values of the Dynamixel actuator to the Factory Default Value settings

Parameters:

servoId The servo id.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1508 of file MX28.cpp.

uint8_t SetAlarmLED	(	uint8_t	servoId,
		uint8_t	alarmLED,
		bool	isRegWrite = `false`
	)

Set the servo alarm LED.

Parameters:

servoId	The servo id.
alarmLED	The servo alarm LED.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 857 of file MX28.cpp.

uint8_t SetAlarmShutdown	(	uint8_t	servoId,
		uint8_t	alarmShutdown,
		bool	isRegWrite = `false`
	)

Set the servo alarm shutdown.

Parameters:

servoId	The servo id.
alarmShutdown	The servo alarm shutdown.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 898 of file MX28.cpp.

uint8_t SetBaudRate	(	uint8_t	servoId,
		int	baudRate,
		bool	isRegWrite = `false`
	)

Set the servo baudrate.

Parameters:

servoId	The servo id.
baudRate	The servo baudrate.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

uint8_t SetCCWAngleLimit	(	uint8_t	servoId,
		uint16_t	ccwAngleLimit,
		bool	isRegWrite = `false`
	)

Set the servo counterclockwise angle limit.

Parameters:

servoId	The servo id.
ccwAngleLimit	The servo counterclockwise angle limit.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 611 of file MX28.cpp.

uint8_t SetCWAngleLimit	(	uint8_t	servoId,
		uint16_t	cwAngleLimit,
		bool	isRegWrite = `false`
	)

Set the servo clockwise angle limit.

Parameters:

servoId	The servo id.
cwAngleLimit	The servo clockwise angle limit.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 570 of file MX28.cpp.

uint8_t SetDGain	(	uint8_t	servoId,
		uint8_t	dGain,
		bool	isRegWrite = `false`
	)

Set the servo D gain.

Parameters:

servoId	The servo id.
dGain	The servo D gain.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1103 of file MX28.cpp.

uint8_t SetEnableLED	(	uint8_t	servoId,
		uint8_t	enableLED,
		bool	isRegWrite = `false`
	)

Set the servo enable LED.

Parameters:

servoId	The servo id.
enableLED	The servo enable LED.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 980 of file MX28.cpp.

uint8_t SetEnableTorque	(	uint8_t	servoId,
		uint8_t	enableTorque,
		bool	isRegWrite = `false`
	)

Set the servo enable torque.

Parameters:

servoId	The servo id.
enableTorque	The servo enable torque.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 939 of file MX28.cpp.

uint8_t SetGoalPosition	(	uint8_t	servoId,
		uint16_t	goalPosition,
		bool	isRegWrite = `false`
	)

Set the servo goal position.

Parameters:

servoId	The servo id.
goalPosition	The servo goal position.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1144 of file MX28.cpp.

uint8_t SetHighestTemperatureLimit	(	uint8_t	servoId,
		uint8_t	highestTemperatureLimit,
		bool	isRegWrite = `false`
	)

Set the servo highest temperature limit.

Parameters:

servoId	The servo id.
highestTemperatureLimit	The servo highest temperature limit.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 652 of file MX28.cpp.

uint8_t SetHighestVoltageLimit	(	uint8_t	servoId,
		uint8_t	highestVoltageLimit,
		bool	isRegWrite = `false`
	)

Set the servo highest voltage limit.

Parameters:

servoId	The servo id.
highestVoltageLimit	The servo highest voltage limit.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 734 of file MX28.cpp.

uint8_t SetId	(	uint8_t	servoId,
		uint8_t	newId,
		bool	isRegWrite = `false`
	)

Set the servo id.

Parameters:

servoId	The servo id.
newId	The new servo id.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 429 of file MX28.cpp.

uint8_t SetIGain	(	uint8_t	servoId,
		uint8_t	iGain,
		bool	isRegWrite = `false`
	)

Set the servo I gain.

Parameters:

servoId	The servo id.
iGain	The servo I gain.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1062 of file MX28.cpp.

uint8_t SetIsLocked	(	uint8_t	servoId,
		uint8_t	isLocked,
		bool	isRegWrite = `false`
	)

Set if the servo EEPROM is locked.

Parameters:

servoId	The servo id.
isLocked	The variable to store if the servo EEPROM is locked.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1435 of file MX28.cpp.

uint8_t SetLowestVoltageLimit	(	uint8_t	servoId,
		uint8_t	lowestVoltageLimit,
		bool	isRegWrite = `false`
	)

Set the servo lowest voltage limit.

Parameters:

servoId	The servo id.
lowestVoltageLimit	The servo lowest voltage limit.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 693 of file MX28.cpp.

uint8_t SetMaxTorque	(	uint8_t	servoId,
		uint16_t	maxTorque,
		bool	isRegWrite = `false`
	)

Set the servo max torque.

Parameters:

servoId	The servo id.
maxTorque	The servo max torque.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 775 of file MX28.cpp.

uint8_t SetMovingSpeed	(	uint8_t	servoId,
		uint16_t	movingSpeed,
		bool	isRegWrite = `false`
	)

Set the servo moving speed.

Parameters:

servoId	The servo id.
movingSpeed	The servo moving speed.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1185 of file MX28.cpp.

uint8_t SetPGain	(	uint8_t	servoId,
		uint8_t	pGain,
		bool	isRegWrite = `false`
	)

Set the servo P gain.

Parameters:

servoId	The servo id.
pGain	The servo P gain.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1021 of file MX28.cpp.

uint8_t SetPunch	(	uint8_t	servoId,
		uint16_t	punch,
		bool	isRegWrite = `false`
	)

Set the servo punch.

Parameters:

servoId	The servo id.
punch	The servo punch value.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1476 of file MX28.cpp.

uint8_t SetReturnDelayTime	(	uint8_t	servoId,
		uint8_t	returnDelayTime,
		bool	isRegWrite = `false`
	)

Set the servo delay time.

Parameters:

servoId	The servo id.
returnDelayTime	The servo return delay time.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 529 of file MX28.cpp.

uint8_t SetStatusReturnLevel	(	uint8_t	servoId,
		uint8_t	statusReturnLevel,
		bool	isRegWrite = `false`
	)

Set the servo status return level.

Parameters:

servoId	The servo id.
statusReturnLevel	The servo status return level.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 816 of file MX28.cpp.

uint8_t SetTorqueLimit	(	uint8_t	servoId,
		uint16_t	torqueLimit,
		bool	isRegWrite = `false`
	)

Set the servo torque limit.

Parameters:

servoId	The servo id.
torqueLimit	The servo torque limit.
isRegWrite	If the command will be registered.

Returns:: MX28_ERRBIT_NONE if succeeded, error code otherwise.

Definition at line 1226 of file MX28.cpp.

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