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YARP
Yet Another Robot Platform
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YARP
Yet Another Robot Platform
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#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 |
dynamixelAX12Ftdi: Documentation to be added More... | |
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 } |
| #define AX12_BROADCAST_ID 0xFE |
defines for AX12 general ids
Definition at line 63 of file DynamixelAX12FtdiDriver.h.
| #define CT_CW_ANGLE_LIMIT 06 |
Definition at line 71 of file DynamixelAX12FtdiDriver.h.
| #define CT_CW_COMP_MARGIN 26 |
Definition at line 82 of file DynamixelAX12FtdiDriver.h.
| #define CT_CW_COMP_SLOPE 28 |
Definition at line 84 of file DynamixelAX12FtdiDriver.h.
| #define CT_CWW_ANGLE_LIMIT 08 |
Definition at line 72 of file DynamixelAX12FtdiDriver.h.
| #define CT_CWW_COMP_MARGIN 27 |
Definition at line 83 of file DynamixelAX12FtdiDriver.h.
| #define CT_CWW_COMP_SLOPE 29 |
Definition at line 85 of file DynamixelAX12FtdiDriver.h.
| #define CT_FIRMWARE_VERSION 2 |
Definition at line 69 of file DynamixelAX12FtdiDriver.h.
| #define CT_GOAL_POSITION 30 |
Definition at line 86 of file DynamixelAX12FtdiDriver.h.
| #define CT_LIMIT_TEMPERATURE_H 11 |
Definition at line 73 of file DynamixelAX12FtdiDriver.h.
| #define CT_LIMIT_VOLTAGE_H 13 |
Definition at line 75 of file DynamixelAX12FtdiDriver.h.
| #define CT_LIMIT_VOLTAGE_L 12 |
Definition at line 74 of file DynamixelAX12FtdiDriver.h.
| #define CT_LOCK 47 |
Definition at line 96 of file DynamixelAX12FtdiDriver.h.
| #define CT_MAX_TORQUE 14 |
Definition at line 76 of file DynamixelAX12FtdiDriver.h.
| #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.
| #define CT_MOVING 46 |
Definition at line 95 of file DynamixelAX12FtdiDriver.h.
| #define CT_MOVING_SPEED 32 |
Definition at line 87 of file DynamixelAX12FtdiDriver.h.
| #define CT_PRESENT_LOAD 0x28 |
Definition at line 91 of file DynamixelAX12FtdiDriver.h.
| #define CT_PRESENT_POSITION 0x24 |
Definition at line 89 of file DynamixelAX12FtdiDriver.h.
| #define CT_PRESENT_SPEED 0x26 |
Definition at line 90 of file DynamixelAX12FtdiDriver.h.
| #define CT_PRESENT_TEMPERATURE 43 |
Definition at line 93 of file DynamixelAX12FtdiDriver.h.
| #define CT_PRESENT_VOLTAGE 42 |
Definition at line 92 of file DynamixelAX12FtdiDriver.h.
| #define CT_PUNCH 48 |
Definition at line 97 of file DynamixelAX12FtdiDriver.h.
| #define CT_REG_INSTRUCTION 44 |
Definition at line 94 of file DynamixelAX12FtdiDriver.h.
| #define CT_RETURN_DELAY_TIME 5 |
Definition at line 70 of file DynamixelAX12FtdiDriver.h.
| #define CT_STATUS_RETURN_LEVEL 16 |
Definition at line 77 of file DynamixelAX12FtdiDriver.h.
| #define CT_TORQUE_ENABLE 24 |
defines for device parameters - RAM
Definition at line 81 of file DynamixelAX12FtdiDriver.h.
| #define CT_TORQUE_LIMIT 34 |
Definition at line 88 of file DynamixelAX12FtdiDriver.h.
| #define INST_ACTION 0x05 |
Definition at line 58 of file DynamixelAX12FtdiDriver.h.
| #define INST_PING 0x01 |
defines for AX12 instruction codes
Definition at line 54 of file DynamixelAX12FtdiDriver.h.
| #define INST_READ 0x02 |
Definition at line 55 of file DynamixelAX12FtdiDriver.h.
| #define INST_REGWRITE 0x04 |
Definition at line 57 of file DynamixelAX12FtdiDriver.h.
| #define INST_RESET 0x06 |
Definition at line 59 of file DynamixelAX12FtdiDriver.h.
| #define INST_SYNCWRITE 0x83 |
Definition at line 60 of file DynamixelAX12FtdiDriver.h.
| #define INST_WRITE 0x03 |
Definition at line 56 of file DynamixelAX12FtdiDriver.h.
| #define MOTION_COMPLETION_TOLERANCE 3 |
Definition at line 50 of file DynamixelAX12FtdiDriver.h.
| 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.
1.8.20 
