Diff: MX12.h

Revision:

3:add8b050eb86

Parent:

2:02f3323a107d

Child:

4:277e5a4cba2e

--- a/MX12.h	Thu Nov 04 06:12:21 2021 +0000
+++ b/MX12.h	Thu Nov 04 07:21:32 2021 +0000
@@ -46,28 +46,30 @@
 {
     public:
     
-        /** Status enum, possible status of servomotor
+        /** Error status occurred during the operation of servomotor.
          *
+         * BDenis remarj: enum type is not suitable for the errors status 
+         *                because several errors can be repported simultaneously 
          */
         enum Status {
-            InstructionError, ///< 
-            OverloadError,
-            ChecksumError,
-            RangeError,
-            OverheatingError,
-            AngleLimitError,
-            InputVoltageError,
-            Unknown,
-            Ok
+            InstructionError,  ///<  In case of sending an undefined instruction or delivering the action instruction without the Reg Write instruction
+            OverloadError,     ///<  When the current load cannot be controlled by the set Torque
+            ChecksumError,     ///<  When the Checksum of the transmitted Instruction Packet is incorrect
+            RangeError,        ///<  When an instruction is out of the range for use 
+            OverheatingError,  ///<  When internal temperature of servomotor is out of the range of operating temperature set in the Control table
+            AngleLimitError,   ///<  When Goal Position is written out of the range from CW Angle Limit to CCW Angle Limit
+            InputVoltageError, ///<  When the applied voltage is out of the range of operating voltage set in the Control table
+            Unknown,           ///<  ???
+            Ok                 ///<  no error
         };
         
         /** State enum, possible state of communication automaton
          *
          */
          enum State {
-            ReadingPosition,
-            Writing,
-            Available,
+            ReadingPosition,   ///<  ReadingPosition
+            Writing,           ///<  Writing
+            Available,         ///<  Available
         };
     
         /** Create MX12 instance
@@ -112,9 +114,21 @@
          *            of a servomotor MX12 (https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/#control-table-of-ram-area).
          * @param[in] len if it is a write instruction, size in bytes 
          *            of the data to write in the "Control Table of RAM Area"
-         * @param[in] data array of char containing parameter of Danamixel  
+         * @param[in, out] data array of char containing parameter of Danamixel  
          *            protocol that are the instruction’s auxiliary data field
          *  
+         * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
+         *
+         * Packet sent
+         *
+         * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum |
+         * |-------|-------|---------|------|-----------|---------------|---------|
+         * |  0xFF |  0xFF |Packet ID|Length|Instruction|Param1...ParamN| CHKSUM  |
+         * | cmd[0]| cmd[1]|  cmd[2] |cmd[3]|  cmd[4]   |cmd[5]...      |(2 bytes)|
+         *                                               \_  _/ \__  __/
+         *                                                 \/      \/
+         *                                              address   data
+         *                                                        (len = N-1)
          */
         void rw(unsigned char mot_id, char address, char len, char *data);