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dynamixel_hardware_interface::MotorBase#

Base class for controlling dynamixel motor.

#include <motor_base.hpp>

Inherited by dynamixel_hardware_interface::motors::XW540_T260

Public Functions#

Name
~MotorBase()
Destroy the Motor Base object.
virtual Result updatePresentTemperature()
Execute update present temperature command to the motor.
virtual Result updateJointVelocity()
Execute update joint velocity command to the motor.
virtual Result updateJointPosition()
Execute update joint position command to the motor.
virtual Result torqueEnable(bool enable)
Execute torqu_enabled command to the motor.
virtual Result setJointPositionLimit(double max_joint_limit, double min_joint_limit)
virtual Result setGoalPosition(double goal_position)
Execute goal_position command to the motor.
virtual Result setCurrentGoalPosition()
Execute goal_position command to the motor without update current goal position.
bool operationSupports(const Operation & operation)
Check the operation is support in your motor.
virtual std::vector< Operation > getSupportedOperations()
Get list of supported Operations in your motor.
virtual double getJointPosition() const
Get current joint position of the motor.
virtual double getGoalPosition() const
Get current goal position of the motor.
virtual Result configure()
Configure dynamixel motor.
virtual void appendStateInterfaces(std::vector< hardware_interface::StateInterface > & interfaces)
Append state interface described in the URDF file.
virtual void appendCommandInterfaces(std::vector< hardware_interface::CommandInterface > & interfaces)
Append command interface described in the URDF file.
template \<typename AddressTable >
 MotorBase(const SupportedMotors & motor_type, const std::string & joint_name, const bool enable_dummy, const AddressTable & table, int baudrate, uint8_t id, double max_joint_limit, double min_joint_limit, std::shared_ptr< dynamixel::PortHandler > port_handler, std::shared_ptr< dynamixel::PacketHandler > packet_handler)
Construct a new Motor Base object.

Protected Functions#

Name
virtual double valueToTemperature(uint8_t value) const
virtual double valueToTemperature(uint16_t value) const
virtual double valueToTemperature(uint32_t value) const
virtual double valueToRpm(uint8_t value) const
virtual double valueToRpm(uint16_t value) const
virtual double valueToRpm(uint32_t value) const
void rpmToVelocity(double rpm, double & radian) const
template \<typename T >
T		 radianToPosition(double radian) const
uint16_t radianToPosition(double radian) const
virtual void radianToPosition(double radian, uint8_t & value) const
virtual void radianToPosition(double radian, uint16_t & value) const
virtual void radianToPosition(double radian, uint32_t & value) const
virtual double positionToRadian(const uint8_t position) const
virtual double positionToRadian(const uint16_t position) const
virtual double positionToRadian(const uint32_t position) const
Result getResult(int communication_result, uint8_t packet_error)
MotorBase()
Construct a new Motor Base object.

Public Attributes#

Name
const SupportedMotors motor_type
Describe the type of the motor.
const double min_joint_limit
const double max_joint_limit
const std::string joint_name
Name of the joint which the motor is attaching to.
const uint8_t id
Id of the dynamixel motor.
const bool enable_dummy
If true, you can communicate with virtual dinamixel motor.
const int baudrate
Baudrate of the serial communication.

Protected Attributes#

Name
double present_temperature_
std::shared_ptr< dynamixel::PortHandler > port_handler_
std::shared_ptr< dynamixel::PacketHandler > packet_handler_
double joint_velocity_
double joint_position_
double goal_velocity_
double goal_position_
std::shared_ptr< AddressTableBase > address_table_

Public Functions Documentation#

function ~MotorBase#

~MotorBase()

Destroy the Motor Base object.

function updatePresentTemperature#

virtual Result updatePresentTemperature()

Execute update present temperature command to the motor.

Return: Result

function updateJointVelocity#

virtual Result updateJointVelocity()

Execute update joint velocity command to the motor.

Return: Result

function updateJointPosition#

virtual Result updateJointPosition()

Execute update joint position command to the motor.

Return: Result result of the command.

function torqueEnable#

virtual Result torqueEnable(
    bool enable
)

Execute torqu_enabled command to the motor.

Parameters:

  • enable if true, enable torque.

Return: Result result of the command.

function setJointPositionLimit#

virtual Result setJointPositionLimit(
    double max_joint_limit,
    double min_joint_limit
)

function setGoalPosition#

virtual Result setGoalPosition(
    double goal_position
)

Execute goal_position command to the motor.

Parameters:

  • goal_position goal position angle in radian.

Return: Result result of the command.

function setCurrentGoalPosition#

inline virtual Result setCurrentGoalPosition()

Execute goal_position command to the motor without update current goal position.

Return: Result result of the command.

function operationSupports#

bool operationSupports(
    const Operation & operation
)

Check the operation is support in your motor.

Parameters:

  • operation Operation which you want to execute.

Return:

  • true Operation supports.
  • false Operation does not support.

function getSupportedOperations#

virtual std::vector< Operation > getSupportedOperations()

Get list of supported Operations in your motor.

Return: std::vector List of supported operations.

function getJointPosition#

inline virtual double getJointPosition() const

Get current joint position of the motor.

Return: double Current joint position of the motor in radian.

function getGoalPosition#

inline virtual double getGoalPosition() const

Get current goal position of the motor.

Return: double Current goal position of the motor in radian.

function configure#

virtual Result configure()

Configure dynamixel motor.

Return: Result result of the configuration.

function appendStateInterfaces#

virtual void appendStateInterfaces(
    std::vector< hardware_interface::StateInterface > & interfaces
)

Append state interface described in the URDF file.

Parameters:

  • interfaces List of state interface.

function appendCommandInterfaces#

virtual void appendCommandInterfaces(
    std::vector< hardware_interface::CommandInterface > & interfaces
)

Append command interface described in the URDF file.

Parameters:

  • interfaces List of command interface.

function MotorBase#

template <typename AddressTable >
inline MotorBase(
    const SupportedMotors & motor_type,
    const std::string & joint_name,
    const bool enable_dummy,
    const AddressTable & table,
    int baudrate,
    uint8_t id,
    double max_joint_limit,
    double min_joint_limit,
    std::shared_ptr< dynamixel::PortHandler > port_handler,
    std::shared_ptr< dynamixel::PacketHandler > packet_handler
)

Construct a new Motor Base object.

Parameters:

  • motor_type Type of the motor.
  • joint_name Name of the joint which the motor is attaching to.
  • enable_dummy If true, you can communicate with virtual dinamixel motor.
  • table address table of the motor.
  • baudrate Baudrate of the serial communication.
  • id Id of the dynamixel motor.
  • max_joint_limit
  • min_joint_limit
  • port_handler Port handler class of the dynamixel sdk.
  • packet_handler Packet handler class of the dynamixel sdk

Template Parameters:

  • AddressTable address table type of the motor.

Protected Functions Documentation#

function valueToTemperature#

virtual double valueToTemperature(
    uint8_t value
) const

Reimplemented by: dynamixel_hardware_interface::motors::XW540_T260::valueToTemperature

function valueToTemperature#

virtual double valueToTemperature(
    uint16_t value
) const

function valueToTemperature#

virtual double valueToTemperature(
    uint32_t value
) const

function valueToRpm#

virtual double valueToRpm(
    uint8_t value
) const

function valueToRpm#

virtual double valueToRpm(
    uint16_t value
) const

function valueToRpm#

virtual double valueToRpm(
    uint32_t value
) const

Reimplemented by: dynamixel_hardware_interface::motors::XW540_T260::valueToRpm

function rpmToVelocity#

inline void rpmToVelocity(
    double rpm,
    double & radian
) const

function radianToPosition#

template <typename T >
inline T radianToPosition(
    double radian
) const

function radianToPosition#

uint16_t radianToPosition(
    double radian
) const

function radianToPosition#

virtual void radianToPosition(
    double radian,
    uint8_t & value
) const

function radianToPosition#

virtual void radianToPosition(
    double radian,
    uint16_t & value
) const

function radianToPosition#

virtual void radianToPosition(
    double radian,
    uint32_t & value
) const

Reimplemented by: dynamixel_hardware_interface::motors::XW540_T260::radianToPosition

function positionToRadian#

virtual double positionToRadian(
    const uint8_t position
) const

function positionToRadian#

virtual double positionToRadian(
    const uint16_t position
) const

function positionToRadian#

virtual double positionToRadian(
    const uint32_t position
) const

Reimplemented by: dynamixel_hardware_interface::motors::XW540_T260::positionToRadian

function getResult#

Result getResult(
    int communication_result,
    uint8_t packet_error
)

function MotorBase#

MotorBase()

Construct a new Motor Base object.

Public Attributes Documentation#

variable motor_type#

const SupportedMotors motor_type;

Describe the type of the motor.

variable min_joint_limit#

const double min_joint_limit;

variable max_joint_limit#

const double max_joint_limit;

variable joint_name#

const std::string joint_name;

Name of the joint which the motor is attaching to.

variable id#

const uint8_t id;

Id of the dynamixel motor.

variable enable_dummy#

const bool enable_dummy;

If true, you can communicate with virtual dinamixel motor.

variable baudrate#

const int baudrate;

Baudrate of the serial communication.

Protected Attributes Documentation#

variable present_temperature_#

double present_temperature_;

variable port_handler_#

std::shared_ptr< dynamixel::PortHandler > port_handler_;

variable packet_handler_#

std::shared_ptr< dynamixel::PacketHandler > packet_handler_;

variable joint_velocity_#

double joint_velocity_;

variable joint_position_#

double joint_position_;

variable goal_velocity_#

double goal_velocity_;

variable goal_position_#

double goal_position_;

variable address_table_#

std::shared_ptr< AddressTableBase > address_table_;

Updated on 17 July 2023 at 01:42:11 UTC