DynaServoMX106.cxx File Reference

RoadNarrows MX-106T and MX-106R Dynamixel servo class. More...

#include <stdio.h>
#include <stdlib.h>
#include <libgen.h>
#include <string.h>
#include <stdarg.h>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "rnr/new.h"
#include "rnr/units.h"
#include "Dynamixel/Dynamixel.h"
#include "Dynamixel/MX.h"
#include "Dynamixel/DynaError.h"
#include "Dynamixel/DynaComm.h"
#include "Dynamixel/DynaServo.h"
#include "Dynamixel/DynaServoGeneric.h"
#include "Dynamixel/DynaServoMX106.h"
#include "DynaLibInternal.h"

Go to the source code of this file.

Variables
static DynaCtlTblEntry_T	MX106EEPROMCtlTblInfo []
	MX-106 Servo EEPROM Control Table Information. More...
static DynaCtlTblEntry_T	MX106RAMCtlTblInfo []
	MX-106 Servo RAM Control Table Information. More...

Detailed Description

RoadNarrows MX-106T and MX-106R Dynamixel servo class.

LastChangedDate

2015-03-13 13:28:02 -0600 (Fri, 13 Mar 2015)

Rev

3890

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 DynaServoMX106.cxx.

Variable Documentation

DynaCtlTblEntry_T MX106EEPROMCtlTblInfo[]

static

Initial value:

=
{
  {0x00, "Model Number",              2, 0xffff,  false,  NULL},
  {0x02, "Firmware Version",          1, 0xff,    false,  "%u"},
  {0x03, "Servo Id",                  1, 0xff,    false,  "%u"},
  {0x04, "Baud Rate",                 1, 0xff,    false,  "%u"},
  {0x05, "Return Delay Time",         1, 0xff,    false,  "%u"},
  {0x06, "CW Angle Limit",            2, 0x3ff,   false,  "%u"},
  {0x08, "CCW Angle Limit",           2, 0x3ff,   false,  "%u"},
  {0x0a, "Drive Mode",                1, 0xff,    false,  "%u"},
  {0x0b, "Highest Temperature Limit", 1, 0xff,    false,  "%u"},
  {0x0c, "Lowest Voltage Limit",      1, 0xff,    false,  "%u"},
  {0x0d, "Highest Voltage Limit",     1, 0xff,    false,  "%u"},
  {0x0e, "Maximum Torque",            2, 0x3ff,   false,  "%u"},
  {0x10, "Status Return Level",       1, 0xff,    false,  "%u"},
  {0x11, "Alarm LED",                 1, 0xff,    false,  "%u"},
  {0x12, "Alarm Shutdown",            1, 0xff,    false,  NULL},
  {0x14, "Multi Turn Offset",         2, 0xffff,  true,   "%d"},
  {0x16, "Resolution Divider",        1, 0xff,    false,  "%u"}
}

MX-106 Servo EEPROM Control Table Information.

Definition at line 78 of file DynaServoMX106.cxx.

DynaCtlTblEntry_T MX106RAMCtlTblInfo[]

static

Initial value:

=
{
  {0x18, "Torque Enable",             1, 0xff,    false,  "%u"},
  {0x19, "LED",                       1, 0xff,    false,  "%u"},
  {0x1a, "D Gain",                    1, 0xff,    false,  "%u"},
  {0x1b, "I Gain",                    1, 0xff,    false,  "%u"},
  {0x1c, "P Gain",                    1, 0xff,    false,  "%u"},
  {0x1e, "Goal Position",             2, 0x3ff,   false,  "%u"},
  {0x20, "Goal Speed",                2, 0x7ff,   true,   "%d"},
  {0x22, "Torque Limit",              2, 0x3ff,   false,  "%u"},
  {0x24, "Current Position",          2, 0x3ff,   false,  "%u"},
  {0x26, "Current Speed",             2, 0x7ff,   true,   "%d"},
  {0x28, "Current Load",              2, 0x7ff,   true,   "%d"},
  {0x2a, "Current Voltage",           1, 0xff,    false,  "%u"},
  {0x2b, "Current Temperature",       1, 0xff,    false,  "%u"},
  {0x2c, "Registered",                1, 0xff,    false,  "%u"},
  {0x2e, "Moving",                    1, 0xff,    false,  "%u"},
  {0x2f, "Lock",                      1, 0xff,    false,  "%u"},
  {0x30, "Punch",                     2, 0x3ff,   false,  "%u"},
  {0x44, "Servo Current Draw",        2, 0x7ff,   true,   "%d"},
  {0x46, "Torque Control Enable",     1, 0x7ff,   false,  "%u"},
  {0x47, "Goal Torque",               2, 0x7ff,   true,   "%d"},
  {0x49, "Goal Acceleration",         1, 0xff,    false,  "%u"}
}

MX-106 Servo RAM Control Table Information.

Definition at line 102 of file DynaServoMX106.cxx.