RoadNarrows EX Series Dynamixel Declarations. More...

#include "rnr/rnrconfig.h"
#include "rnr/units.h"
#include "rnr/log.h"
#include "Dynamixel/Dynamixel.h"

Macros
#define	DYNA_MODEL_NUM_EX106P 0x006b
	EX-106+.

#define	DYNA_EX106P_SPEC_WEIGHT_G 154.0
	weight (grams)

#define	DYNA_EX106P_SPEC_WIDTH_MM 40.2
	width (mm)

#define	DYNA_EX106P_SPEC_HEIGHT_MM 65.1
	height (mm)

#define	DYNA_EX106P_SPEC_DEPTH_MM 46.0
	depth (mm)

#define	DYNA_EX106P_SPEC_POS_RES_DEG 0.06
	resolution (degrees)

#define	DYNA_EX106P_SPEC_GEAR_RATIO 184.0
	gear reduction ratio : 1

#define	DYNA_EX106P_SPEC_STALL_TORQUE_KGF 107.0
	maximum stall torque (kgf) at optimal power

#define	DYNA_EX106P_SPEC_MAX_SPEED_RPM 91.0
	maximum no-load speed (rpm) at optimal power

#define	DYNA_EX106P_SPEC_ANGLE_MIN_DEG 0.0
	minimum rotation angle in servo mode (deg)

#define	DYNA_EX106P_SPEC_ANGLE_MAX_DEG 251.0
	maximum rotation angle in servo mode (deg)

#define	DYNA_EX106P_SPEC_MODES (DYNA_MODE_SERVO\|DYNA_MODE_CONTINUOUS)
	supported modes (see Dynamixel Operational Modes)

#define	DYNA_EX106P_SPEC_HAS_360_POS true
	servo does provide 360 ° position data

#define	DYNA_EX106P_SPEC_TEMP_MIN_C (-5.0)
	minimum recommended operational temperature (C)

#define	DYNA_EX106P_SPEC_TEMP_MAX_C 80.0
	maximum recommended operational temperature (C)

#define	DYNA_EX106P_SPEC_VOLT_MIN_V 12.0
	minimum operational voltage (V)

#define	DYNA_EX106P_SPEC_VOLT_MAX_V 18.5
	maximum operational voltage (V)

#define	DYNA_EX106P_SPEC_CTL_METHOD DYNA_CTL_METHOD_COMPLIANCE
	position control method (see Dynamixel Internal Position Control Methods)

#define	DYNA_EX106P_POS_MASK 0xffff
	valid data mask

#define	DYNA_EX106P_POS_MIN_RAW 0
	minimum raw angular position

#define	DYNA_EX106P_POS_MAX_RAW 4095
	maximum raw angular position

#define	DYNA_EX106P_POS_MODULO 4096
	continuous position mod [0-max]

#define	DYNA_EX106P_POS_MIN_DEG 0
	minimum angular position

#define	DYNA_EX106P_POS_MAX_DEG 250.92
	maximum angular position

#define	DYNA_EX106P_POS_RES_DEG ((double)DYNA_EX106P_POS_MAX_DEG/(double)DYNA_EX106P_POS_MAX_RAW)
	0.06 ° (servo mode) resolution

#define	DYNA_EX106P_EEPROM_MIN_ADDR DYNA_EEPROM_MIN_ADDR
	EX-106+ minimum EEPROM address.

#define	DYNA_EX106P_EEPROM_MAX_ADDR DYNA_EEPROM_MAX_ADDR
	EX-106+ maximum EEPROM address.

#define	DYNA_EX106P_RAM_MIN_ADDR DYNA_RAM_MIN_ADDR
	EX-106+ minimum RAM address.

#define	DYNA_EX106P_RAM_MAX_ADDR 57
	EX-106+ maximum RAM address.

#define	DYNA_EX106P_MEM_MAX_SIZ 58
	EX-106+ maximum control memory size.

#define	DYNA_EX106P_ADDR_LIM_CW_MASK 0x0fff
	valid data mask

#define	DYNA_EX106P_ADDR_LIM_CCW_MASK 0x0fff
	valid data mask

#define	DYNA_EX106P_ADDR_DRIVE_MODE 10
	EEPROM drive mode (RW)

#define	DYNA_EX106P_ADDR_DRIVE_MODE_MASK 0x03
	valid data mask

#define	DYNA_EX106P_DRIVE_MODE_MS_MASTER 0x00
	dual joint master

#define	DYNA_EX106P_DRIVE_MODE_MS_SLAVE 0x02
	dual joint slave

#define	DYNA_EX106P_DRIVE_MODE_NR_NORM 0x00
	dual joint normal rotation

#define	DYNA_EX106P_DRIVE_MODE_NR_REV 0x01
	dual joint reverse rotation

#define	DYNA_EX106P_DRIVE_MODE_DFT (DYNA_EX106P_DRIVE_MODE_MS_MASTER \| DYNA_EX106P_DRIVE_MODE_NR_NORM)

#define	DYNA_EX106P_ADDR_GOAL_POS_MASK 0x0fff
	valid data mask

#define	DYNA_EX106P_ADDR_CUR_POS_MASK 0xffff
	valid data mask

#define	DYNA_EX106P_CUR_POS_S_MASK 0x0fff
	servo mode positiion mask

#define	DYNA_EX106P_CUR_POS_C_MASK 0xffff
	continuous mode position mask

#define	DYNA_EX106P_ADDR_CURRENT_LSB 56
	sensed current draw (lsb)

#define	DYNA_EX106P_ADDR_CURRENT_MSB 57
	sensed current draw (msb)

#define	DYNA_EX106P_ADDR_CURRENT_MASK 0x3ff
	valid data mask

#define	DYNA_EX106P_CURRENT_RES_M_AMP 10
	10mA resolution

#define	DYNA_EX106P_CURRENT_MAG_MASK 0x01ff
	current magnitude field mask

#define	DYNA_EX106P_CURRENT_MAG_SHIFT 0
	current magnitude field shift

#define	DYNA_EX106P_CURRENT_ZERO_RAW 512
	0 Amp draw

#define	DYNA_EX106P_CURRENT_M_AMP(val) ((val) & DYNA_EX106P_CURRENT_MAG_MASK)
	Current(mA) / 10. More...

#define	DYNA_EX106P_CURRENT_TORQUE_DIR(val) ((val) < DYNA_EX106P_CURRENT_ZERO_RAW? DYNA_DIR_CCW: DYNA_DIR_CW)
	Torque direction. More...

Detailed Description

RoadNarrows EX Series Dynamixel Declarations.

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

Rev: 3845

Note: Only deltas from base values found in Dynamixel.h are defined here.

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

Definition in file EX.h.

Macros

Detailed Description