YARP
Yet Another Robot Platform
DynamixelAX12FtdiDriver Class Reference

dynamixelAX12Ftdi: Documentation to be added More...

#include <DynamixelAX12Ftdi/DynamixelAX12FtdiDriver.h>

+ Inheritance diagram for DynamixelAX12FtdiDriver:

Public Member Functions

 DynamixelAX12FtdiDriver ()
 Constructor Initializes handle but doesn't open channel yet. More...
 
virtual ~DynamixelAX12FtdiDriver ()
 Destructor Closes connection and destroys device object. More...
 
bool open (yarp::os::Searchable &config) override
 Open device Opens and configures the device. More...
 
bool close () override
 Close device Closes the device and shuts down connection. More...
 
bool configure (yarp::os::Searchable &config) override
 Configure device online Configures parts of the device that can be configures online. More...
 
virtual int sendCommand (unsigned char id, unsigned char inst[], int size, unsigned char ret[], int &retSize)
 Send instruction to device Send an instruction to a device of given ID. More...
 
virtual int readParameter (unsigned char id, unsigned char param)
 Read parameter from motor Requests the value of a parameter from motor. More...
 
bool getAxes (int *ax) override
 Get the number of controlled axes. More...
 
bool positionMove (int j, double ref) override
 
bool positionMove (const double *refs) override
 
bool relativeMove (int j, double delta) override
 Set relative position. More...
 
bool relativeMove (const double *deltas) override
 Set relative position, all joints. More...
 
bool checkMotionDone (int j, bool *flag) override
 Check if the current trajectory is terminated. More...
 
bool checkMotionDone (bool *flag) override
 Check if the current trajectory is terminated. More...
 
bool setRefSpeed (int j, double sp) override
 Set reference speed for a joint, this is the speed used during the interpolation of the trajectory. More...
 
bool setRefSpeeds (const double *spds) override
 Set reference speed on all joints. More...
 
bool setRefAcceleration (int j, double acc) override
 not implemented More...
 
bool setRefAccelerations (const double *accs) override
 not implemented More...
 
bool getRefSpeed (int j, double *ref) override
 Get reference speed for a joint. More...
 
bool getRefSpeeds (double *spds) override
 Get reference speed of all joints. More...
 
bool getRefAcceleration (int j, double *acc) override
 not implemented More...
 
bool getRefAccelerations (double *accs) override
 not implemented More...
 
bool stop (int j) override
 Stop motion, single joint. More...
 
bool stop () override
 Stop motion, multiple joints. More...
 
bool getRefTorques (double *t) override
 Get the reference value of the torque for all joints. More...
 
bool getRefTorque (int j, double *t) override
 Get the reference value of the torque for a given joint. More...
 
bool setTorques (const double *t)
 
bool setTorque (int j, double t)
 
bool setTorquePid (int j, const Pid &pid)
 
bool getTorque (int j, double *t) override
 Get the value of the torque on a given joint (this is the feedback if you have a torque sensor). More...
 
bool getTorques (double *t) override
 Get the value of the torque for all joints (this is the feedback if you have torque sensors). More...
 
bool setTorquePids (const Pid *pids)
 
bool setTorqueErrorLimit (int j, double limit)
 
bool setTorqueErrorLimits (const double *limits)
 
bool getTorqueError (int j, double *err)
 
bool getTorqueErrors (double *errs)
 
bool getTorquePidOutput (int j, double *out)
 
bool getTorquePidOutputs (double *outs)
 
bool getTorquePid (int j, Pid *pid)
 
bool getTorquePids (Pid *pids)
 
bool getTorqueErrorLimit (int j, double *limit)
 
bool getTorqueErrorLimits (double *limits)
 
bool resetTorquePid (int j)
 
bool disableTorquePid (int j)
 
bool enableTorquePid (int j)
 
bool setTorqueOffset (int j, double v)
 
bool getBemfParam (int j, double *bemf)
 
bool setBemfParam (int j, double bemf)
 
bool resetEncoder (int j) override
 Reset encoder, single joint. More...
 
bool resetEncoders () override
 Reset encoders. More...
 
bool setEncoder (int j, double val) override
 Set the value of the encoder for a given joint. More...
 
bool setEncoders (const double *vals) override
 Set the value of all encoders. More...
 
bool getEncoder (int j, double *v) override
 Get the angle of servo. More...
 
bool getEncoders (double *encs) override
 Read the position of all axes. More...
 
bool getEncoderSpeed (int j, double *sp) override
 Read the istantaneous speed of an axis. More...
 
bool getEncoderSpeeds (double *spds) override
 Read the instantaneous speed of all axes. More...
 
bool getEncoderAcceleration (int j, double *spds) override
 Read the instantaneous acceleration of an axis. More...
 
bool getEncoderAccelerations (double *accs) override
 Read the instantaneous acceleration of all axes. More...
 
bool setRefTorques (const double *t) override
 Set the reference value of the torque for all joints. More...
 
bool setRefTorque (int j, double t) override
 Set the reference value of the torque for a given joint. More...
 
bool getTorqueRange (int j, double *min, double *max) override
 Get the full scale of the torque sensor of a given joint. More...
 
bool getTorqueRanges (double *min, double *max) override
 Get the full scale of the torque sensors of all joints. More...
 
bool positionMove (const int n_joint, const int *joints, const double *refs) override
 Set new reference point for a subset of joints. More...
 
bool relativeMove (const int n_joint, const int *joints, const double *deltas) override
 Set relative position for a subset of joints. More...
 
bool checkMotionDone (const int n_joint, const int *joints, bool *flag) override
 Check if the current trajectory is terminated. More...
 
bool setRefSpeeds (const int n_joint, const int *joints, const double *spds) override
 Set reference speed on all joints. More...
 
bool setRefAccelerations (const int n_joint, const int *joints, const double *accs) override
 Set reference acceleration on all joints. More...
 
bool getRefSpeeds (const int n_joint, const int *joints, double *spds) override
 Get reference speed of all joints. More...
 
bool getRefAccelerations (const int n_joint, const int *joints, double *accs) override
 Get reference acceleration for a joint. More...
 
bool stop (const int n_joint, const int *joints) override
 Stop motion for subset of joints. More...
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 DeviceDriver ()
 
 DeviceDriver (const DeviceDriver &other)=delete
 
 DeviceDriver (DeviceDriver &&other) noexcept=delete
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (DeviceDriver &&other) noexcept=delete
 
 ~DeviceDriver () override
 
virtual std::string id () const
 Return the id assigned to the PolyDriver. More...
 
virtual void setId (const std::string &id)
 Set the id for this device. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
- Public Member Functions inherited from yarp::dev::IPositionControl
virtual ~IPositionControl ()
 Destructor. More...
 
virtual bool getTargetPosition (const int joint, double *ref)
 Get the last position reference for the specified axis. More...
 
virtual bool getTargetPositions (double *refs)
 Get the last position reference for all axes. More...
 
virtual bool getTargetPositions (const int n_joint, const int *joints, double *refs)
 Get the last position reference for the specified group of axes. More...
 
- Public Member Functions inherited from yarp::dev::ITorqueControl
virtual ~ITorqueControl ()
 Destructor. More...
 
virtual bool setRefTorques (const int n_joint, const int *joints, const double *t)
 Set new torque reference for a subset of joints. More...
 
virtual bool getMotorTorqueParams (int j, yarp::dev::MotorTorqueParameters *params)
 Get a subset of motor parameters (bemf, ktau etc) useful for torque control. More...
 
virtual bool setMotorTorqueParams (int j, const yarp::dev::MotorTorqueParameters params)
 Set a subset of motor parameters (bemf, ktau etc) useful for torque control. More...
 
- Public Member Functions inherited from yarp::dev::IEncoders
virtual ~IEncoders ()
 Destructor. More...
 

Detailed Description

dynamixelAX12Ftdi: Documentation to be added

Definition at line 139 of file DynamixelAX12FtdiDriver.h.

Constructor & Destructor Documentation

◆ DynamixelAX12FtdiDriver()

DynamixelAX12FtdiDriver::DynamixelAX12FtdiDriver ( )

Constructor Initializes handle but doesn't open channel yet.

Definition at line 27 of file DynamixelAX12FtdiDriver.cpp.

◆ ~DynamixelAX12FtdiDriver()

DynamixelAX12FtdiDriver::~DynamixelAX12FtdiDriver ( )
virtual

Destructor Closes connection and destroys device object.

Definition at line 57 of file DynamixelAX12FtdiDriver.cpp.

Member Function Documentation

◆ checkMotionDone() [1/3]

bool DynamixelAX12FtdiDriver::checkMotionDone ( bool *  flag)
overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters
flagis a pointer to return value ("and" of all joints)
Returns
true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 454 of file DynamixelAX12FtdiDriver.cpp.

◆ checkMotionDone() [2/3]

bool DynamixelAX12FtdiDriver::checkMotionDone ( const int  n_joint,
const int *  joints,
bool *  flag 
)
overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters
jointspointer to the array of joint numbers
flagpointer to return value (logical "and" of all set of joints)
Returns
true/false if network communication went well.

Implements yarp::dev::IPositionControl.

Definition at line 928 of file DynamixelAX12FtdiDriver.cpp.

◆ checkMotionDone() [3/3]

bool DynamixelAX12FtdiDriver::checkMotionDone ( int  j,
bool *  flag 
)
overridevirtual

Check if the current trajectory is terminated.

Non blocking.

Parameters
jis the axis number
flagis a pointer to return value
Returns
true/false on network communication (value you actually want is stored in *flag)

Implements yarp::dev::IPositionControl.

Definition at line 445 of file DynamixelAX12FtdiDriver.cpp.

◆ close()

bool DynamixelAX12FtdiDriver::close ( )
overridevirtual

Close device Closes the device and shuts down connection.

Returns
true on success

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 182 of file DynamixelAX12FtdiDriver.cpp.

◆ configure()

bool DynamixelAX12FtdiDriver::configure ( yarp::os::Searchable config)
overridevirtual

Configure device online Configures parts of the device that can be configures online.

Parameters
configConfig file containing string pairs for parameters
Returns
true on success

Reimplemented from yarp::os::IConfig.

Definition at line 202 of file DynamixelAX12FtdiDriver.cpp.

◆ disableTorquePid()

bool DynamixelAX12FtdiDriver::disableTorquePid ( int  j)

Definition at line 718 of file DynamixelAX12FtdiDriver.cpp.

◆ enableTorquePid()

bool DynamixelAX12FtdiDriver::enableTorquePid ( int  j)

Definition at line 723 of file DynamixelAX12FtdiDriver.cpp.

◆ getAxes()

bool DynamixelAX12FtdiDriver::getAxes ( int *  ax)
overridevirtual

Get the number of controlled axes.

This command asks the number of controlled axes for the current physical interface.

Returns
the number of controlled axes.

Implements yarp::dev::IEncoders.

Definition at line 394 of file DynamixelAX12FtdiDriver.cpp.

◆ getBemfParam()

bool DynamixelAX12FtdiDriver::getBemfParam ( int  j,
double *  bemf 
)

Definition at line 733 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoder()

bool DynamixelAX12FtdiDriver::getEncoder ( int  j,
double *  v 
)
overridevirtual

Get the angle of servo.

Implements yarp::dev::IEncoders.

Definition at line 775 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoderAcceleration()

bool DynamixelAX12FtdiDriver::getEncoderAcceleration ( int  j,
double *  spds 
)
overridevirtual

Read the instantaneous acceleration of an axis.

Parameters
jaxis number
spdspointer to the array that will contain the output

Implements yarp::dev::IEncoders.

Definition at line 855 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoderAccelerations()

bool DynamixelAX12FtdiDriver::getEncoderAccelerations ( double *  accs)
overridevirtual

Read the instantaneous acceleration of all axes.

Parameters
accspointer to the array that will contain the output
Returns
true if all goes well, false if anything bad happens.

Implements yarp::dev::IEncoders.

Definition at line 859 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoders()

bool DynamixelAX12FtdiDriver::getEncoders ( double *  encs)
overridevirtual

Read the position of all axes.

Parameters
encspointer to the array that will contain the output
Returns
true/false on success/failure

Implements yarp::dev::IEncoders.

Definition at line 805 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoderSpeed()

bool DynamixelAX12FtdiDriver::getEncoderSpeed ( int  j,
double *  sp 
)
overridevirtual

Read the istantaneous speed of an axis.

Parameters
jaxis number
sppointer to storage for the output
Returns
true if successful, false ... otherwise.

TODO should be changed. not very accurate, though close

Implements yarp::dev::IEncoders.

Definition at line 817 of file DynamixelAX12FtdiDriver.cpp.

◆ getEncoderSpeeds()

bool DynamixelAX12FtdiDriver::getEncoderSpeeds ( double *  spds)
overridevirtual

Read the instantaneous speed of all axes.

Parameters
spdspointer to storage for the output values
Returns
guess what? (true/false on success or failure).

Implements yarp::dev::IEncoders.

Definition at line 844 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefAcceleration()

bool DynamixelAX12FtdiDriver::getRefAcceleration ( int  j,
double *  acc 
)
overridevirtual

not implemented

Implements yarp::dev::IPositionControl.

Definition at line 522 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefAccelerations() [1/2]

bool DynamixelAX12FtdiDriver::getRefAccelerations ( const int  n_joint,
const int *  joints,
double *  accs 
)
overridevirtual

Get reference acceleration for a joint.

Returns the acceleration used to generate the trajectory profile.

Parameters
jointspointer to the array of joint numbers
accspointer to the array that will store the acceleration values
Returns
true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 971 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefAccelerations() [2/2]

bool DynamixelAX12FtdiDriver::getRefAccelerations ( double *  accs)
overridevirtual

not implemented

Implements yarp::dev::IPositionControl.

Definition at line 529 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefSpeed()

bool DynamixelAX12FtdiDriver::getRefSpeed ( int  j,
double *  ref 
)
overridevirtual

Get reference speed for a joint.

Returns the speed used to generate the trajectory profile.

Parameters
jjoint number
refpointer to storage for the return value
Returns
true/false on success or failure

Implements yarp::dev::IPositionControl.

Definition at line 507 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefSpeeds() [1/2]

bool DynamixelAX12FtdiDriver::getRefSpeeds ( const int  n_joint,
const int *  joints,
double *  spds 
)
overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters
jointspointer to the array of joint numbers
spdspointer to the array that will store the speed values.
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 961 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefSpeeds() [2/2]

bool DynamixelAX12FtdiDriver::getRefSpeeds ( double *  spds)
overridevirtual

Get reference speed of all joints.

These are the values used during the interpolation of the trajectory.

Parameters
spdspointer to the array that will store the speed values.

Implements yarp::dev::IPositionControl.

Definition at line 512 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefTorque()

bool DynamixelAX12FtdiDriver::getRefTorque ( int  j,
double *  t 
)
overridevirtual

Get the reference value of the torque for a given joint.

This is NOT the feedback (see getTorque instead).

Parameters
jjoint number
tthe returned reference torque of joint j
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 579 of file DynamixelAX12FtdiDriver.cpp.

◆ getRefTorques()

bool DynamixelAX12FtdiDriver::getRefTorques ( double *  t)
overridevirtual

Get the reference value of the torque for all joints.

This is NOT the feedback (see getTorques instead).

Parameters
tpointer to the array of torque values
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 571 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorque()

bool DynamixelAX12FtdiDriver::getTorque ( int  j,
double *  t 
)
overridevirtual

Get the value of the torque on a given joint (this is the feedback if you have a torque sensor).

Parameters
jjoint number
tpointer to the result value
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 622 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueError()

bool DynamixelAX12FtdiDriver::getTorqueError ( int  j,
double *  err 
)

Definition at line 673 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueErrorLimit()

bool DynamixelAX12FtdiDriver::getTorqueErrorLimit ( int  j,
double *  limit 
)

Definition at line 703 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueErrorLimits()

bool DynamixelAX12FtdiDriver::getTorqueErrorLimits ( double *  limits)

Definition at line 708 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueErrors()

bool DynamixelAX12FtdiDriver::getTorqueErrors ( double *  errs)

Definition at line 678 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorquePid()

bool DynamixelAX12FtdiDriver::getTorquePid ( int  j,
Pid pid 
)

Definition at line 693 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorquePidOutput()

bool DynamixelAX12FtdiDriver::getTorquePidOutput ( int  j,
double *  out 
)

Definition at line 683 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorquePidOutputs()

bool DynamixelAX12FtdiDriver::getTorquePidOutputs ( double *  outs)

Definition at line 688 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorquePids()

bool DynamixelAX12FtdiDriver::getTorquePids ( Pid pids)

Definition at line 698 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueRange()

bool DynamixelAX12FtdiDriver::getTorqueRange ( int  j,
double *  min,
double *  max 
)
overridevirtual

Get the full scale of the torque sensor of a given joint.

Parameters
jjoint number
minminimum torque of the joint j
maxmaximum torque of the joint j
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 767 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorqueRanges()

bool DynamixelAX12FtdiDriver::getTorqueRanges ( double *  min,
double *  max 
)
overridevirtual

Get the full scale of the torque sensors of all joints.

Parameters
minpointer to the array that will store minimum torques of the joints
maxpointer to the array that will store maximum torques of the joints
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 771 of file DynamixelAX12FtdiDriver.cpp.

◆ getTorques()

bool DynamixelAX12FtdiDriver::getTorques ( double *  t)
overridevirtual

Get the value of the torque for all joints (this is the feedback if you have torque sensors).

Parameters
tpointer to the array that will store the output
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 647 of file DynamixelAX12FtdiDriver.cpp.

◆ open()

bool DynamixelAX12FtdiDriver::open ( yarp::os::Searchable config)
overridevirtual

Open device Opens and configures the device.

Parameters
configConfig file containing string pairs for parameters
Returns
true on success

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 66 of file DynamixelAX12FtdiDriver.cpp.

◆ positionMove() [1/3]

bool DynamixelAX12FtdiDriver::positionMove ( const double *  refs)
overridevirtual
Parameters
refsshould be in range [1 300]

Implements yarp::dev::IPositionControl.

Definition at line 416 of file DynamixelAX12FtdiDriver.cpp.

◆ positionMove() [2/3]

bool DynamixelAX12FtdiDriver::positionMove ( const int  n_joint,
const int *  joints,
const double *  refs 
)
overridevirtual

Set new reference point for a subset of joints.

Parameters
jointspointer to the array of joint numbers
refspointer to the array specifying the new reference points
Returns
true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 908 of file DynamixelAX12FtdiDriver.cpp.

◆ positionMove() [3/3]

bool DynamixelAX12FtdiDriver::positionMove ( int  j,
double  ref 
)
overridevirtual
Parameters
refsshould be in range [1 300]

Implements yarp::dev::IPositionControl.

Definition at line 399 of file DynamixelAX12FtdiDriver.cpp.

◆ readParameter()

int DynamixelAX12FtdiDriver::readParameter ( unsigned char  id,
unsigned char  param 
)
virtual

Read parameter from motor Requests the value of a parameter from motor.

Parameters
idThe id of the device to be contacted
paramencodes address in control table and size of parameter (2 Bytes => address + 100, 1 byte => address)
Returns
value if read successful or -1

Definition at line 362 of file DynamixelAX12FtdiDriver.cpp.

◆ relativeMove() [1/3]

bool DynamixelAX12FtdiDriver::relativeMove ( const double *  deltas)
overridevirtual

Set relative position, all joints.

Parameters
deltaspointer to the relative commands
Returns
true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 435 of file DynamixelAX12FtdiDriver.cpp.

◆ relativeMove() [2/3]

bool DynamixelAX12FtdiDriver::relativeMove ( const int  n_joint,
const int *  joints,
const double *  deltas 
)
overridevirtual

Set relative position for a subset of joints.

Parameters
jointspointer to the array of joint numbers
deltaspointer to the array of relative commands
Returns
true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 918 of file DynamixelAX12FtdiDriver.cpp.

◆ relativeMove() [3/3]

bool DynamixelAX12FtdiDriver::relativeMove ( int  j,
double  delta 
)
overridevirtual

Set relative position.

The command is relative to the current position of the axis.

Parameters
jjoint axis number
deltarelative command
Returns
true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 426 of file DynamixelAX12FtdiDriver.cpp.

◆ resetEncoder()

bool DynamixelAX12FtdiDriver::resetEncoder ( int  j)
overridevirtual

Reset encoder, single joint.

Set the encoder value to zero

Parameters
jencoder number
Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 743 of file DynamixelAX12FtdiDriver.cpp.

◆ resetEncoders()

bool DynamixelAX12FtdiDriver::resetEncoders ( )
overridevirtual

Reset encoders.

Set the encoders value to zero

Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 747 of file DynamixelAX12FtdiDriver.cpp.

◆ resetTorquePid()

bool DynamixelAX12FtdiDriver::resetTorquePid ( int  j)

Definition at line 713 of file DynamixelAX12FtdiDriver.cpp.

◆ sendCommand()

int DynamixelAX12FtdiDriver::sendCommand ( unsigned char  id,
unsigned char  inst[],
int  size,
unsigned char  ret[],
int &  retSize 
)
virtual

Send instruction to device Send an instruction to a device of given ID.

The instruction has to be a byte arry containing the AX12 instruction code beginning with the instruction, the address and the parameters. Header and checksum are written automatically.

Parameters
idThe hex id of the device to be contacted
instByte array containing the instruction body (instruction, address, parameters)
Returns
The content of the return packet of the device

TODO check if it works with Kaspar. Originally made by Sven. Need testing

Definition at line 220 of file DynamixelAX12FtdiDriver.cpp.

◆ setBemfParam()

bool DynamixelAX12FtdiDriver::setBemfParam ( int  j,
double  bemf 
)

Definition at line 738 of file DynamixelAX12FtdiDriver.cpp.

◆ setEncoder()

bool DynamixelAX12FtdiDriver::setEncoder ( int  j,
double  val 
)
overridevirtual

Set the value of the encoder for a given joint.

Parameters
jencoder number
valnew value
Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 751 of file DynamixelAX12FtdiDriver.cpp.

◆ setEncoders()

bool DynamixelAX12FtdiDriver::setEncoders ( const double *  vals)
overridevirtual

Set the value of all encoders.

Parameters
valspointer to the new values
Returns
true/false

Implements yarp::dev::IEncoders.

Definition at line 755 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefAcceleration()

bool DynamixelAX12FtdiDriver::setRefAcceleration ( int  j,
double  acc 
)
overridevirtual

not implemented

Implements yarp::dev::IPositionControl.

Definition at line 496 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefAccelerations() [1/2]

bool DynamixelAX12FtdiDriver::setRefAccelerations ( const double *  accs)
overridevirtual

not implemented

Implements yarp::dev::IPositionControl.

Definition at line 503 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefAccelerations() [2/2]

bool DynamixelAX12FtdiDriver::setRefAccelerations ( const int  n_joint,
const int *  joints,
const double *  accs 
)
overridevirtual

Set reference acceleration on all joints.

This is the valure that is used during the generation of the trajectory.

Parameters
jointspointer to the array of joint numbers
accspointer to the array with acceleration values
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 951 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefSpeed()

bool DynamixelAX12FtdiDriver::setRefSpeed ( int  j,
double  sp 
)
overridevirtual

Set reference speed for a joint, this is the speed used during the interpolation of the trajectory.

Parameters
jjoint number
spspeed value
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 468 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefSpeeds() [1/2]

bool DynamixelAX12FtdiDriver::setRefSpeeds ( const double *  spds)
overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters
spdspointer to the array of speed values.
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 483 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefSpeeds() [2/2]

bool DynamixelAX12FtdiDriver::setRefSpeeds ( const int  n_joint,
const int *  joints,
const double *  spds 
)
overridevirtual

Set reference speed on all joints.

These values are used during the interpolation of the trajectory.

Parameters
jointspointer to the array of joint numbers
spdspointer to the array with speed values.
Returns
true/false upon success/failure

Implements yarp::dev::IPositionControl.

Definition at line 941 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefTorque()

bool DynamixelAX12FtdiDriver::setRefTorque ( int  j,
double  t 
)
overridevirtual

Set the reference value of the torque for a given joint.

Parameters
jjoint number
tnew value
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 763 of file DynamixelAX12FtdiDriver.cpp.

◆ setRefTorques()

bool DynamixelAX12FtdiDriver::setRefTorques ( const double *  t)
overridevirtual

Set the reference value of the torque for all joints.

Parameters
tpointer to the array of torque values
Returns
true/false on success/failure

Implements yarp::dev::ITorqueControl.

Definition at line 759 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorque()

bool DynamixelAX12FtdiDriver::setTorque ( int  j,
double  t 
)
Parameters
thas not real unit. Although it can be roughly estimated based on the maximum toruqe as specified in the document Here t should be only set from 0 - 0x3FF (1023) as int

Definition at line 599 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorqueErrorLimit()

bool DynamixelAX12FtdiDriver::setTorqueErrorLimit ( int  j,
double  limit 
)

Definition at line 663 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorqueErrorLimits()

bool DynamixelAX12FtdiDriver::setTorqueErrorLimits ( const double *  limits)

Definition at line 668 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorqueOffset()

bool DynamixelAX12FtdiDriver::setTorqueOffset ( int  j,
double  v 
)

Definition at line 728 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorquePid()

bool DynamixelAX12FtdiDriver::setTorquePid ( int  j,
const Pid pid 
)

Definition at line 617 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorquePids()

bool DynamixelAX12FtdiDriver::setTorquePids ( const Pid pids)

Definition at line 658 of file DynamixelAX12FtdiDriver.cpp.

◆ setTorques()

bool DynamixelAX12FtdiDriver::setTorques ( const double *  t)

Definition at line 585 of file DynamixelAX12FtdiDriver.cpp.

◆ stop() [1/3]

bool DynamixelAX12FtdiDriver::stop ( )
overridevirtual

Stop motion, multiple joints.

Returns
true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 537 of file DynamixelAX12FtdiDriver.cpp.

◆ stop() [2/3]

bool DynamixelAX12FtdiDriver::stop ( const int  n_joint,
const int *  joints 
)
overridevirtual

Stop motion for subset of joints.

Parameters
jointspointer to the array of joint numbers
Returns
true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 981 of file DynamixelAX12FtdiDriver.cpp.

◆ stop() [3/3]

bool DynamixelAX12FtdiDriver::stop ( int  j)
overridevirtual

Stop motion, single joint.

Parameters
jjoint number
Returns
true/false on success/failure

Implements yarp::dev::IPositionControl.

Definition at line 533 of file DynamixelAX12FtdiDriver.cpp.


The documentation for this class was generated from the following files: