dynamixel_hardware_interface#

Namespaces#

Name
dynamixel_hardware_interface::motors
dynamixel_hardware_interface::address_tables

	Name
struct	dynamixel_hardware_interface::Result Struct describes the command result.
class	dynamixel_hardware_interface::MotorBase Base class for controlling dynamixel motor.
class	dynamixel_hardware_interface::DynamixelHardwareInterface Hardware interface for the dynamixel motor.
class	dynamixel_hardware_interface::DynamixelDiagnosticController
class	dynamixel_hardware_interface::AddressTableBase base class for address table class
class	dynamixel_hardware_interface::Address

	Name
enum	SupportedMotors { XW540_T260, INVALID } Enum class of the supported motor.
enum	PacketByteSize { TWO_BYTE, ONE_BYTE, INVALID, FOUR_BYTE }
enum	Operation { TORQUE_ENABLE, PRESENT_VOLTAGE, PRESENT_TEMPERATURE, PRESENT_SPEED, PRESENT_POSITION, PRESENT_LOAD, MOVING_SPEED, MIN_POSITION_LIMIT, MAX_POSITION_LIMIT, INVALID, GOAL_POSITION } Enum class of the commands.
enum	DiagnosticsType { TEMPERATURE, INVALID }

	Name
const std::string	toString(const SupportedMotors motor)

Enumerator	Value	Description
XW540_T260		Robotis xw540-t260 motor.
INVALID		Invalid motor type.

Enum class of the supported motor.

Enum class of the commands.

Enumerator	Value	Description
TEMPERATURE
INVALID

const std::string toString(
    const SupportedMotors motor
)

constexpr double TO_VOLTAGE = 0.1;

constexpr double TO_SPEED_REV_PER_MIN = 0.111;

constexpr double TO_SPEED_RAD_PER_SEC = TO_SPEED_RAD_PER_MIN / 60.0;

constexpr double TO_SPEED_RAD_PER_MIN = TO_SPEED_REV_PER_MIN * 2.0 * M_PI;

constexpr double TO_RADIANS = (DXL_MAX_POSITION_DEGREES / DXL_MAX_POSITION) * M_PI / 180.0;

constexpr double TO_LOAD_PERCENT = 0.1;

constexpr double TO_DXL_POS = 1.0 / TO_RADIANS;

constexpr double PULSE_RESOLUTION = 4096;

constexpr double PROTOCOL_VERSION = 2.0;

constexpr double DXL_MAX_POSITION_DEGREES = 300.0;

constexpr double DXL_MAX_POSITION = 1023.0;

constexpr int DXL_HOME_POSITION = 0;

Updated on 17 July 2023 at 01:42:10 UTC