YARP
Yet Another Robot Platform
DynamixelAX12FtdiDriver.h File Reference
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <cstdio>
#include <cstdlib>
#include <cmath>
#include <cstring>
#include <ftdi.h>
#include <usb.h>
#include <iostream>
#include <yarp/os/Time.h>
#include <mutex>
+ Include dependency graph for DynamixelAX12FtdiDriver.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes

class  FtdiDeviceSettings
 FtdiDeviceSettings contains information to identify specific device Such a device can contain information: such as: Manufacturer: FTDI, Description: FT232R USB UART, Serial A7003MhG. More...
 
class  DynamixelAX12FtdiDriver
 

Macros

#define MOTION_COMPLETION_TOLERANCE   3
 
#define INST_PING   0x01
 defines for AX12 instruction codes More...
 
#define INST_READ   0x02
 
#define INST_WRITE   0x03
 
#define INST_REGWRITE   0x04
 
#define INST_ACTION   0x05
 
#define INST_RESET   0x06
 
#define INST_SYNCWRITE   0x83
 
#define AX12_BROADCAST_ID   0xFE
 defines for AX12 general ids More...
 
#define CT_MODEL_NUMBER   00
 defines for device parameters - EEPROM ***************************** 100 added if parameter has length 2 More...
 
#define CT_FIRMWARE_VERSION   2
 
#define CT_RETURN_DELAY_TIME   5
 
#define CT_CW_ANGLE_LIMIT   06
 
#define CT_CWW_ANGLE_LIMIT   08
 
#define CT_LIMIT_TEMPERATURE_H   11
 
#define CT_LIMIT_VOLTAGE_L   12
 
#define CT_LIMIT_VOLTAGE_H   13
 
#define CT_MAX_TORQUE   14
 
#define CT_STATUS_RETURN_LEVEL   16
 
#define CT_TORQUE_ENABLE   24
 defines for device parameters - RAM More...
 
#define CT_CW_COMP_MARGIN   26
 
#define CT_CWW_COMP_MARGIN   27
 
#define CT_CW_COMP_SLOPE   28
 
#define CT_CWW_COMP_SLOPE   29
 
#define CT_GOAL_POSITION   30
 
#define CT_MOVING_SPEED   32
 
#define CT_TORQUE_LIMIT   34
 
#define CT_PRESENT_POSITION   0x24
 
#define CT_PRESENT_SPEED   0x26
 
#define CT_PRESENT_LOAD   0x28
 
#define CT_PRESENT_VOLTAGE   42
 
#define CT_PRESENT_TEMPERATURE   43
 
#define CT_REG_INSTRUCTION   44
 
#define CT_MOVING   46
 
#define CT_LOCK   47
 
#define CT_PUNCH   48
 

Enumerations

enum  ErrorCode {
  VOLTAGE_ERROR,
  ANGLE_ERROR,
  OVERHEATING_ERROR,
  RANGE_ERROR,
  CHECKSUM_ERROR,
  OVERLOAD_ERROR,
  INSTRUCTION_ERROR,
  OK
}
 

Macro Definition Documentation

◆ AX12_BROADCAST_ID

#define AX12_BROADCAST_ID   0xFE

defines for AX12 general ids

Definition at line 63 of file DynamixelAX12FtdiDriver.h.

◆ CT_CW_ANGLE_LIMIT

#define CT_CW_ANGLE_LIMIT   06

Definition at line 71 of file DynamixelAX12FtdiDriver.h.

◆ CT_CW_COMP_MARGIN

#define CT_CW_COMP_MARGIN   26

Definition at line 82 of file DynamixelAX12FtdiDriver.h.

◆ CT_CW_COMP_SLOPE

#define CT_CW_COMP_SLOPE   28

Definition at line 84 of file DynamixelAX12FtdiDriver.h.

◆ CT_CWW_ANGLE_LIMIT

#define CT_CWW_ANGLE_LIMIT   08

Definition at line 72 of file DynamixelAX12FtdiDriver.h.

◆ CT_CWW_COMP_MARGIN

#define CT_CWW_COMP_MARGIN   27

Definition at line 83 of file DynamixelAX12FtdiDriver.h.

◆ CT_CWW_COMP_SLOPE

#define CT_CWW_COMP_SLOPE   29

Definition at line 85 of file DynamixelAX12FtdiDriver.h.

◆ CT_FIRMWARE_VERSION

#define CT_FIRMWARE_VERSION   2

Definition at line 69 of file DynamixelAX12FtdiDriver.h.

◆ CT_GOAL_POSITION

#define CT_GOAL_POSITION   30

Definition at line 86 of file DynamixelAX12FtdiDriver.h.

◆ CT_LIMIT_TEMPERATURE_H

#define CT_LIMIT_TEMPERATURE_H   11

Definition at line 73 of file DynamixelAX12FtdiDriver.h.

◆ CT_LIMIT_VOLTAGE_H

#define CT_LIMIT_VOLTAGE_H   13

Definition at line 75 of file DynamixelAX12FtdiDriver.h.

◆ CT_LIMIT_VOLTAGE_L

#define CT_LIMIT_VOLTAGE_L   12

Definition at line 74 of file DynamixelAX12FtdiDriver.h.

◆ CT_LOCK

#define CT_LOCK   47

Definition at line 96 of file DynamixelAX12FtdiDriver.h.

◆ CT_MAX_TORQUE

#define CT_MAX_TORQUE   14

Definition at line 76 of file DynamixelAX12FtdiDriver.h.

◆ CT_MODEL_NUMBER

#define CT_MODEL_NUMBER   00

defines for device parameters - EEPROM ***************************** 100 added if parameter has length 2

Definition at line 68 of file DynamixelAX12FtdiDriver.h.

◆ CT_MOVING

#define CT_MOVING   46

Definition at line 95 of file DynamixelAX12FtdiDriver.h.

◆ CT_MOVING_SPEED

#define CT_MOVING_SPEED   32

Definition at line 87 of file DynamixelAX12FtdiDriver.h.

◆ CT_PRESENT_LOAD

#define CT_PRESENT_LOAD   0x28

Definition at line 91 of file DynamixelAX12FtdiDriver.h.

◆ CT_PRESENT_POSITION

#define CT_PRESENT_POSITION   0x24

Definition at line 89 of file DynamixelAX12FtdiDriver.h.

◆ CT_PRESENT_SPEED

#define CT_PRESENT_SPEED   0x26

Definition at line 90 of file DynamixelAX12FtdiDriver.h.

◆ CT_PRESENT_TEMPERATURE

#define CT_PRESENT_TEMPERATURE   43

Definition at line 93 of file DynamixelAX12FtdiDriver.h.

◆ CT_PRESENT_VOLTAGE

#define CT_PRESENT_VOLTAGE   42

Definition at line 92 of file DynamixelAX12FtdiDriver.h.

◆ CT_PUNCH

#define CT_PUNCH   48

Definition at line 97 of file DynamixelAX12FtdiDriver.h.

◆ CT_REG_INSTRUCTION

#define CT_REG_INSTRUCTION   44

Definition at line 94 of file DynamixelAX12FtdiDriver.h.

◆ CT_RETURN_DELAY_TIME

#define CT_RETURN_DELAY_TIME   5

Definition at line 70 of file DynamixelAX12FtdiDriver.h.

◆ CT_STATUS_RETURN_LEVEL

#define CT_STATUS_RETURN_LEVEL   16

Definition at line 77 of file DynamixelAX12FtdiDriver.h.

◆ CT_TORQUE_ENABLE

#define CT_TORQUE_ENABLE   24

defines for device parameters - RAM

Definition at line 81 of file DynamixelAX12FtdiDriver.h.

◆ CT_TORQUE_LIMIT

#define CT_TORQUE_LIMIT   34

Definition at line 88 of file DynamixelAX12FtdiDriver.h.

◆ INST_ACTION

#define INST_ACTION   0x05

Definition at line 58 of file DynamixelAX12FtdiDriver.h.

◆ INST_PING

#define INST_PING   0x01

defines for AX12 instruction codes

Definition at line 54 of file DynamixelAX12FtdiDriver.h.

◆ INST_READ

#define INST_READ   0x02

Definition at line 55 of file DynamixelAX12FtdiDriver.h.

◆ INST_REGWRITE

#define INST_REGWRITE   0x04

Definition at line 57 of file DynamixelAX12FtdiDriver.h.

◆ INST_RESET

#define INST_RESET   0x06

Definition at line 59 of file DynamixelAX12FtdiDriver.h.

◆ INST_SYNCWRITE

#define INST_SYNCWRITE   0x83

Definition at line 60 of file DynamixelAX12FtdiDriver.h.

◆ INST_WRITE

#define INST_WRITE   0x03

Definition at line 56 of file DynamixelAX12FtdiDriver.h.

◆ MOTION_COMPLETION_TOLERANCE

#define MOTION_COMPLETION_TOLERANCE   3

Definition at line 50 of file DynamixelAX12FtdiDriver.h.

Enumeration Type Documentation

◆ ErrorCode

enum ErrorCode
Enumerator
VOLTAGE_ERROR 
ANGLE_ERROR 
OVERHEATING_ERROR 
RANGE_ERROR 
CHECKSUM_ERROR 
OVERLOAD_ERROR 
INSTRUCTION_ERROR 
OK 

Definition at line 99 of file DynamixelAX12FtdiDriver.h.