Yusuke Okino / Mbed 2 deprecated dynamixel_servo_controller

Dynamixel servo controller. This program consists of 2 parts: "dynamixel_servo_controller.cpp/.h" and "main.cpp"( demo program ).

Dependencies:   mbed

Fork of dynamixel_servo_controller by Yusuke Okino

Files at this revision

API Documentation at this revision

Revision 5:4474c07c6274, committed 2018-06-15

Comitter:
PicYusuke
Date:
Fri Jun 15 10:41:34 2018 +0000
Parent:
4:ce4fef97e7e5
Commit message:
Considered compile speed.

Changed in this revision

dynamixel_servo_controller.cpp Show annotated file Show diff for this revision Revisions of this file
dynamixel_servo_controller.h Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- a/dynamixel_servo_controller.cpp	Wed Jun 13 14:26:28 2018 +0000
+++ b/dynamixel_servo_controller.cpp	Fri Jun 15 10:41:34 2018 +0000
@@ -35,6 +35,20 @@
 namespace dynamixel_servo_v2
 {
 
+// Checksum polynomia
+const uint16_t XM430::CRC16_POLY = 0x8005;
+
+/********************* レジスタマップ ***********************/
+/***************** instruction *******************/
+const uint8_t XM430::WRITE = 0x03;
+/*************************************************/
+
+/**************** Control table ******************/
+const uint16_t XM430::TORQUE_ENABLE = 64;
+const uint16_t XM430::GOAL_POSITION = 116;
+/*************************************************/
+/***********************************************************/
+
 namespace 
 {
     // チェックサム計算クラス( 今後実装 )
@@ -290,3 +304,4 @@
 
 };
 
+

--- a/dynamixel_servo_controller.h	Wed Jun 13 14:26:28 2018 +0000
+++ b/dynamixel_servo_controller.h	Fri Jun 15 10:41:34 2018 +0000
@@ -72,16 +72,16 @@
     private:
 
         // Checksum polynomial
-        const static uint16_t CRC16_POLY = 0x8005;
+        static const uint16_t CRC16_POLY;
 
         /********************* レジスタマップ ***********************/
         /***************** instruction *******************/
-        const static uint8_t WRITE = 0x03;
+        static const uint8_t WRITE;
         /*************************************************/
 
         /**************** Control table ******************/
-        const static uint16_t TORQUE_ENABLE = 64;   
-        const static uint16_t GOAL_POSITION = 116;
+        static const uint16_t TORQUE_ENABLE;   
+        static const uint16_t GOAL_POSITION;
         /*************************************************/
         /***********************************************************/
 
@@ -172,3 +172,4 @@
 };
 
 #endif
+

--- a/mbed.bld	Wed Jun 13 14:26:28 2018 +0000
+++ b/mbed.bld	Fri Jun 15 10:41:34 2018 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/5aab5a7997ee
\ No newline at end of file