DynaComm.cxx File Reference

RoadNarrows Dynamixel bus communications abstract class base class. More...

#include <unistd.h>
#include <string.h>
#include <pthread.h>
#include <string>
#include "rnr/rnrconfig.h"
#include "rnr/uri.h"
#include "rnr/shm.h"
#include "rnr/log.h"
#include "botsense/BotSense.h"
#include "Dynamixel/Dynamixel.h"
#include "Dynamixel/DynaError.h"
#include "Dynamixel/DynaComm.h"
#include "Dynamixel/DynaCommBotSense.h"
#include "Dynamixel/DynaCommSerial.h"
#include "DynaLibInternal.h"

Go to the source code of this file.

Variables
static const char *	DynaBusStatusStrTbl []
	Dynamixel Bus Communication Status String Table. More...
static const char *	DynaServoAlarmStrTbl []
	Dynamixel Servo Alarms String Table. More...
static const char *	DynaServoAlarmShortStrTbl []
	Dynamixel Servo Alarms Short String Table. More...
static const int	DynaBaudMap [DYNA_BAUDNUM_NUMOF][2]
	Baud rate to baud number enumeration map. More...

Detailed Description

RoadNarrows Dynamixel bus communications abstract class base class.

LastChangedDate

2015-01-12 10:56:06 -0700 (Mon, 12 Jan 2015)

Rev

3845

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2011-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file DynaComm.cxx.

Variable Documentation

const int DynaBaudMap[DYNA_BAUDNUM_NUMOF][2]

static

Initial value:

=
{
  {1000000,   DYNA_BAUDNUM_1000000},
  {500000,    DYNA_BAUDNUM_500000},
  {400000,    DYNA_BAUDNUM_400000},
  {250000,    DYNA_BAUDNUM_250000},
  {200000,    DYNA_BAUDNUM_200000},
  {115200,    DYNA_BAUDNUM_115200},
  {57600,     DYNA_BAUDNUM_57600},
  {19200,     DYNA_BAUDNUM_19200},
  {9600,      DYNA_BAUDNUM_9600},
  {2250000,   DYNA_BAUDNUM_EXT_2250000},
  {2500000,   DYNA_BAUDNUM_EXT_2500000},
  {3000000,   DYNA_BAUDNUM_EXT_3000000}
}

Baud rate to baud number enumeration map.

Definition at line 125 of file DynaComm.cxx.

Referenced by DynaComm::BaudNumAt(), DynaComm::BaudNumToRate(), DynaComm::BaudRateAt(), and DynaComm::BaudRateToNum().

const char* DynaBusStatusStrTbl[]

static

Initial value:

=
{
  "Transmit packet success",                
  "Receive packet success",                 
  "Transmit packet failure",                
  "Receive packet failure",                 
  "Transmit error",                         
  "Waiting to receive packet",              
  "Timed out waiting to receive packet",    
  "Received packet corrupted",              
  "Unknown communication status"            
}

Dynamixel Bus Communication Status String Table.

Definition at line 81 of file DynaComm.cxx.

Referenced by DynaComm::GetBusStatusString().

const char* DynaServoAlarmShortStrTbl[]

static

Initial value:

=
{
  "VOLT",             
  "POS",              
  "TEMP",             
  "CMD",              
  "CS",               
  "TORQ",             
  "INST"              
}

Dynamixel Servo Alarms Short String Table.

Definition at line 111 of file DynaComm.cxx.

Referenced by DynaComm::GetAlarmsShortString().

const char* DynaServoAlarmStrTbl[]

static

Initial value:

=
{
  "Input voltage out of range",             
  "Angle position out of range",            
  "Over-temperature",                       
  "Command out of range",                   
  "Checksum",                               
  "Load out of torque range",               
  "Instruction code"                        
}

Dynamixel Servo Alarms String Table.

Definition at line 97 of file DynaComm.cxx.

Referenced by DynaComm::GetAlarmsString().