Scott Xmiles / DynamixelAX12

ax12_defines.h@0:459be9e7bfe6, 2010-04-02 (annotated)

Committer:
deoryp
Date:
Fri Apr 02 23:51:11 2010 +0000
Revision:
0:459be9e7bfe6

        

        
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/*





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  ax12.h - arbotiX Library for AX-12 Servos





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  Copyright (c) 2008,2009 Michael E. Ferguson.  All right reserved.





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    Modifed by Scott Nichols, 2010





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  This library is free software; you can redistribute it and/or





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  modify it under the terms of the GNU Lesser General Public





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  License as published by the Free Software Foundation; either





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  version 2.1 of the License, or (at your option) any later version.





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  This library is distributed in the hope that it will be useful,





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  but WITHOUT ANY WARRANTY; without even the implied warranty of





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  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU





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  Lesser General Public License for more details.





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  You should have received a copy of the GNU Lesser General Public





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  License along with this library; if not, write to the Free Software





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  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA





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*/





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#ifndef __ax12_defines_h





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#define __ax12_defines_h





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/** EEPROM AREA **/





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#define AX_MODEL_NUMBER_L           0





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#define AX_MODEL_NUMBER_H           1





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#define AX_VERSION                  2





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#define AX_ID                       3





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#define AX_BAUD_RATE                4





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#define AX_RETURN_DELAY_TIME        5





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#define AX_CW_ANGLE_LIMIT_L         6





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#define AX_CW_ANGLE_LIMIT_H         7





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#define AX_CCW_ANGLE_LIMIT_L        8





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#define AX_CCW_ANGLE_LIMIT_H        9





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#define AX_SYSTEM_DATA2             10





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#define AX_LIMIT_TEMPERATURE        11





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#define AX_DOWN_LIMIT_VOLTAGE       12





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#define AX_UP_LIMIT_VOLTAGE         13





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#define AX_MAX_TORQUE_L             14





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#define AX_MAX_TORQUE_H             15





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#define AX_RETURN_LEVEL             16





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#define AX_ALARM_LED                17





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#define AX_ALARM_SHUTDOWN           18





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#define AX_OPERATING_MODE           19





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#define AX_DOWN_CALIBRATION_L       20





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#define AX_DOWN_CALIBRATION_H       21





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#define AX_UP_CALIBRATION_L         22





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#define AX_UP_CALIBRATION_H         23





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/** RAM AREA **/





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#define AX_TORQUE_ENABLE            24





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#define AX_LED                      25





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#define AX_CW_COMPLIANCE_MARGIN     26





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#define AX_CCW_COMPLIANCE_MARGIN    27





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#define AX_CW_COMPLIANCE_SLOPE      28





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#define AX_CCW_COMPLIANCE_SLOPE     29





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#define AX_GOAL_POSITION_L          30





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#define AX_GOAL_POSITION_H          31





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#define AX_GOAL_SPEED_L             32





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#define AX_GOAL_SPEED_H             33





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#define AX_TORQUE_LIMIT_L           34





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#define AX_TORQUE_LIMIT_H           35





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#define AX_PRESENT_POSITION_L       36





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#define AX_PRESENT_POSITION_H       37





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#define AX_PRESENT_SPEED_L          38





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#define AX_PRESENT_SPEED_H          39





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#define AX_PRESENT_LOAD_L           40





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#define AX_PRESENT_LOAD_H           41





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#define AX_PRESENT_VOLTAGE          42





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#define AX_PRESENT_TEMPERATURE      43





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#define AX_REGISTERED_INSTRUCTION   44





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#define AX_PAUSE_TIME               45





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#define AX_MOVING                   46





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#define AX_LOCK                     47





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#define AX_PUNCH_L                  48





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#define AX_PUNCH_H                  49





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/** Status Return Levels **/





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#define AX_RETURN_NONE              0





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#define AX_RETURN_READ              1





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#define AX_RETURN_ALL               2





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/** Instruction Set **/





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#define AX_PING                     1





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#define AX_READ_DATA                2





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#define AX_WRITE_DATA               3





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#define AX_REG_WRITE                4





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#define AX_ACTION                   5





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#define AX_RESET                    6





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#define AX_SYNC_WRITE               131





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#endif