DynaServo Class Reference

Dynamixel Servo Abstract Base Class. More...

#include <DynaServo.h>

Inheritance diagram for DynaServo:

Classes
struct	CrossLink_T

Public Member Functions
	DynaServo (DynaComm &comm, int nServoId, uint_t uModelNum, uint_t uFwVer)
	Default initialization constructor. More...
virtual	~DynaServo ()
	Destructor.
virtual uint_t	GetModelNumber () const
	Get servo model number. More...
virtual uint_t	GetFirmwareVersion () const
	Get servo firmware version. More...
virtual const char *	GetModelName () const
	Get servo model name string. More...
virtual uint_t	GetServoId () const
	Get servo id. More...
virtual uint_t	GetServoMode () const
	Get the servo operational mode. More...
virtual uint_t	Has360PosInfo () const
	Test if servo has 360 ° positioning information. More...
virtual const DynaServoSpec_T &	GetSpecification () const
	Get servo specification. More...
virtual const DynaServoCfg_T &	GetConfiguration () const
	Get servo configuration. More...
virtual const DynaServoState_T &	GetState () const
	Get servo state. More...
bool	IsMaster () const
	Test if this servo is a master. More...
bool	IsLinkedMaster () const
	Test if this servo is a linked master. More...
bool	IsUnlinked () const
	Test if this servo is unlinked. More...
virtual const DynaServoLink_T	GetLinkInfo () const
	Get linked information. More...
virtual void	Link (uint_t uLinkType, DynaServo *pServoMate, bool bRotReversed)
	Link this servo to another. More...
virtual void	Unlink ()
	Unlink this servo.
int	GetOdometer ()
	Get the current virtual odometer value. More...
int	IsOdometerEnabled ()
	Test if virtual odometer mapping is enabled. More...
int	GetOdometerZeroPt ()
	Get the virtual odometer zero point. More...
bool	IsOdometerReversed ()
	Test if the virtual odometer is reversed. More...
int	CalcOdometerAtEncMin ()
	Calculate the odometer value at the minimum (zero) encoder value. More...
int	CalcOdometerAtEncMax ()
	Calculate the odometer value at the maximum encoder value. More...
int	OdometerToEncoder (int nOdPos)
	Convert virtual odometer units to servo encoder units. More...
int	CalcSpeedDir (int nOdGoalPos)
	Calculate serve direction to goal odometer position. More...
virtual int	ResetOdometer (int nEncZeroPt, bool bIsReverse)
	Reset the servo's virtual odometer. More...
virtual int	UpdateOdometer (int nEncCurPos)
	Update the odometer from the current servo position and rotation direction. More...
virtual void	DisableOdometer ()
	Disable odometer mapping. More...
virtual uint_t	GetAlarms () const
	Get the current servo alarms. More...
virtual uint_t	GetCurPos () const
	Get the current servo position. More...
virtual int	GetCurSpeed () const
	Get the current servo speed. More...
virtual int	GetGoalSpeed () const
	Get the goal servo speed. More...
virtual int	GetCurLoad () const
	Get the current servo load. More...
virtual uint_t	GetCurTemp () const
	Get the current temperature. More...
virtual float	CvtRawTempToC (uint uTemp)=0
	Convert raw temperature coding to degrees Celsius. More...
virtual uint_t	GetCurVolt () const
	Get the current voltage. More...
virtual float	CvtRawVoltToVolts (uint uVolts)=0
	Convert raw volts coding to volts. More...
virtual void	SetSoftTorqueThresholds (uint_t uOverTorqueTh, uint_t uClearTorqueTh)
	Set soft torque thresholds. More...
virtual void	GetSoftTorqueThresholds (uint_t &uOverTorqueTh, uint_t &uClearTorqueTh)
	Get soft torque thresholds. More...
virtual void	SetSoftTorqueOverCond (bool bNewCond)
	Set or clear servo in soft over torque condition. More...
virtual bool	HasSoftTorqueOverCond ()
	Test if servo is in a soft over torque condition. More...
virtual void	RegisterAgent (DynaAgent_T *pAgent, void *pAgentArg)
	Register servo proxy agent. More...
virtual void	UnregisterAgent ()
	Unregister servo proxy agent.
virtual bool	HasAgent ()
	Tests if servo has a registered agent. More...
virtual int	AgentWriteGoalPos (int nGoalPos)=0
virtual int	AgentWriteGoalSpeed (int nGoalSpeed)=0
virtual int	AgentWriteGoalSpeedPos (int nGoalSpeed, int nGoalPos)=0
virtual int	MoveTo (int nGoalPos)=0
virtual int	MoveAtSpeedTo (int nGoalSpeed, int nGoalPos)=0
virtual int	MoveAtSpeed (int nGoalSpeed)=0
virtual int	EStop ()=0
virtual int	Stop ()=0
virtual int	Freeze ()=0
virtual int	Release ()=0
virtual int	CfgReadRotationLimits (uint_t *pCwLim, uint_t *pCcwLim)=0
virtual int	CfgWriteRotationLimits (uint_t uCwLim, uint_t uCcwLim)=0
virtual int	CfgReadTemperatureLimit (uint_t *pTempLim)=0
virtual int	CfgWriteTemperatureLimit (uint_t uTempLim)=0
virtual int	CfgReadVoltageLimits (uint_t *pMinVoltLim, uint_t *pMaxVoltLim)=0
virtual int	CfgWriteVoltageLimits (uint_t uMinVoltLim, uint_t uMaxVoltLim)=0
virtual int	CfgReadMaxTorqueLimit (uint_t *pMaxTorqueLim)=0
virtual int	CfgWriteMaxTorqueLimit (uint_t uMaxTorqueLim)=0
virtual int	CfgReadAlarmShutdownMask (uint_t *pAlarmMask)=0
virtual int	CfgWriteAlarmShutdownMask (uint_t uAlarmMask)=0
virtual int	CfgReadServoMode (uint_t *pServoMode)=0
virtual int	CfgWriteServoMode (uint_t uCwLim, uint_t uCcwLim)=0
virtual int	CfgWriteServoModeContinuous ()=0
virtual int	ReadTorqueEnable (bool *pState)=0
virtual int	WriteTorqueEnable (bool bState)=0
virtual int	ReadLed (bool *pState)=0
virtual int	WriteLed (bool bState)=0
virtual int	ReadControlMethod (DynaServoCtlMethod_T *pCtlMethod)=0
virtual int	WriteControlMethod (DynaServoCtlMethod_T &ctlMethod)=0
virtual int	ReadGoalPos (int *pGoalPos)=0
virtual int	WriteGoalPos (int nGoalPos)=0
virtual int	ReadGoalSpeed (int *pGoalSpeed)=0
virtual int	WriteGoalSpeed (int nGoalSpeed)=0
virtual int	ReadMaxTorqueLimit (uint_t *pMaxTorqueLim)=0
virtual int	WriteMaxTorqueLimit (uint_t uMaxTorqueLim)=0
virtual int	ReloadMaxTorqueLimit ()=0
virtual int	ReadCurPos (int *pCurPos)=0
virtual int	ReadCurSpeed (int *pCurSpeed)=0
virtual int	ReadCurLoad (int *pCurLoad)=0
virtual int	ReadDynamics (int *pCurPos, int *pCurSpeed, int *pCurLoad)=0
virtual int	ReadHealth (uint_t *pAlarms, int *pCurLoad, uint_t *pCurVolt, uint_t *pCurTemp)=0
virtual int	ReadIsMoving (bool *pState)=0
virtual int	Read (uint_t uAddr, uint_t *pVal)=0
virtual int	Write (uint_t uAddr, uint_t uVal)=0
virtual bool	Ping ()=0
virtual int	Reset ()=0
virtual int	SyncData ()=0
virtual int	SyncCfg ()=0
virtual int	SyncState ()=0
virtual void	Dump ()=0

Static Public Member Functions
static DynaServo *	New (DynaComm &comm, int nServoId)
	Archetype constructor to create a new Dynamixel servo instance. More...
static int	ReadModelNumber (DynaComm &comm, int nServoId, uint_t *pModelNum)
	Read the servo model number from the servo's EEPROM. More...
static int	ReadFirmwareVersion (DynaComm &comm, int nServoId, uint_t *pFwVer)
	Read the servo's firmware version from the servo's EEPROM. More...
static int	ReadServoId (DynaComm &comm, int nServoId, int *pServoId)
	Read the servo's id from the servo's EEPROM. More...
static int	WriteServoId (DynaComm &comm, int nServoId, int nNewServoId)
	Write the new servo id to the servo's EEPROM. More...
static int	ReadBaudRate (DynaComm &comm, int nServoId, int *pBaudRate)
	Read the servo's baud rate from the servo's EEPROM. More...
static int	WriteBaudRate (DynaComm &comm, int nServoId, int nNewBaudRate)
	Write the new baud rate to the servo's EEPROM. More...
static bool	Ping (DynaComm &comm, int nServoId)
	Ping the given servo. More...
static int	Reset (DynaComm &comm, int nServoId)
	Reset the given servo back to default values. More...

Protected Member Functions
void	Init (int nServoId, uint_t uModelNum, uint_t uFwVer)
	Initialize servo class instance. More...
virtual int	CalcMatesGoalPos (int nGoalPos, int *pGoalPosMate)=0
virtual int	CalcMatesGoalSpeed (int nGoalSpeed)=0
virtual uint_t	PackGoalSpeed (int nGoalSpeed)=0
virtual int	UnpackGoalSpeed (uint_t uVal)=0
virtual int	UnpackCurSpeed (uint_t uVal)=0
virtual int	UnpackCurLoad (uint_t uVal)=0
void	DumpCtlTbl (const char *sTblName, const DynaCtlTblEntry_T tblInfo[], size_t uSize)
	Dump the servo control tabl values to stdout. More...

Protected Attributes
DynaComm &	m_comm
	attached Dynamixel bus comm. object
int	m_nServoId
	servo id
DynaServoSpec_T	m_spec
	servo specification
DynaServoCfg_T	m_cfg
	servo shadowed EEPROM configuration
DynaServoState_T	m_state
	servo shadowed RAM state
CrossLink_T	m_link
	servo cross linkage
DynaAgent_T *	m_pAgent
	servo agent
void *	m_pAgentArg
	servo agent callback argument
int	m_nErrorCode
	class instance errored state

Friends
class	DynaServoGeneric
class	DynaServoAX12
class	DynaServoEX106P
class	DynaServoMX28
class	DynaServoMX64
class	DynaServoMX106
class	DynaServoRX10
class	DynaServoRX24F
class	DynaServoRX28
class	DynaServoRX64
class	DynaChain

Detailed Description

Dynamixel Servo Abstract Base Class.

The DynaServo abstract class provides the archetype functions to bootstrap into a specific DynaServo class object.

Definition at line 78 of file DynaServo.h.

Constructor & Destructor Documentation

DynaServo::DynaServo ( DynaComm &  comm, int  nServoId, uint_t  uModelNum, uint_t  uFwVer  )

inline

Default initialization constructor.

Parameters

comm	Dynamixel bus communication instance.
nServoId	Servo Id.
uModelNum	Servo model number.
uFwVer	Servo firmware version.

Definition at line 89 of file DynaServo.h.

References Init(), New(), and ~DynaServo().

                                                                           :
              m_comm(comm)
  {
    Init(nServoId, uModelNum, uFwVer);
  }

Member Function Documentation

int DynaServo::CalcOdometerAtEncMax ( )

inline

Calculate the odometer value at the maximum encoder value.

Returns

Odometer value.

Definition at line 354 of file DynaServo.h.

References DynaServoOdometer_T::m_nEncZeroPt, DynaServoOdometer_T::m_nOdDir, DynaServoState_T::m_od, m_spec, m_state, and DynaServoSpec_T::m_uRawPosMax.

  {
    return (m_spec.m_uRawPosMax - m_state.m_od.m_nEncZeroPt) *
              m_state.m_od.m_nOdDir;
  }

int DynaServo::CalcOdometerAtEncMin ( )

inline

Calculate the odometer value at the minimum (zero) encoder value.

Returns

Odometer value.

Definition at line 344 of file DynaServo.h.

References DynaServoOdometer_T::m_nEncZeroPt, DynaServoOdometer_T::m_nOdDir, DynaServoState_T::m_od, and m_state.

  {
    return -m_state.m_od.m_nEncZeroPt * m_state.m_od.m_nOdDir;
  }

int DynaServo::CalcSpeedDir ( int  nOdGoalPos )

inline

Calculate serve direction to goal odometer position.

Parameters

nOdGoalPos

Odometer goal position.

Returns

1 or -1

Definition at line 380 of file DynaServo.h.

References DisableOdometer(), DYNA_MODE_CONTINUOUS, GetServoMode(), DynaServoOdometer_T::m_nOdDir, DynaServoOdometer_T::m_nOdometer, DynaServoState_T::m_od, m_state, ResetOdometer(), and UpdateOdometer().

  {
    if( GetServoMode() == DYNA_MODE_CONTINUOUS )
    {
      return nOdGoalPos >= m_state.m_od.m_nOdometer?
                             m_state.m_od.m_nOdDir:
                            -m_state.m_od.m_nOdDir;
    }
    else
    {
      return 1;
    }
  }

virtual float DynaServo::CvtRawTempToC ( uint  uTemp )

pure virtual

Convert raw temperature coding to degrees Celsius.

Parameters

uTemp

Raw temperature value.

Returns

Celsius.

Implemented in DynaServoGeneric.

Referenced by GetCurTemp().

virtual float DynaServo::CvtRawVoltToVolts ( uint  uVolts )

pure virtual

Convert raw volts coding to volts.

Parameters

uTemp

Raw volts value.

Returns

Volatage.

Implemented in DynaServoGeneric.

Referenced by GetCurVolt().

void DynaServo::DisableOdometer ( )

virtual

Disable odometer mapping.

The odometer will always equal the encoder value.

Definition at line 242 of file DynaServo.cxx.

References DynaServoOdometer_T::m_bOdEnabled, DynaServoOdometer_T::m_nEncLastPos, DynaServoOdometer_T::m_nEncZeroPt, DynaServoOdometer_T::m_nOdDir, DynaServoOdometer_T::m_nOdometer, DynaServoState_T::m_od, m_state, and DynaServoState_T::m_uCurPos.

Referenced by CalcSpeedDir().

{
  m_state.m_od.m_nEncZeroPt   = 0;
  m_state.m_od.m_nOdDir       = 1;
  m_state.m_od.m_nEncLastPos  = m_state.m_uCurPos;
  m_state.m_od.m_bOdEnabled   = false;
  m_state.m_od.m_nOdometer    = m_state.m_uCurPos;
}

void DynaServo::DumpCtlTbl ( const char *  sTblName, const DynaCtlTblEntry_T  tblInfo[], size_t  uSize  )

protected

Dump the servo control tabl values to stdout.

Parameters

sTblName	Name of the control table.
tblInfo	Control table info.
uSize	Control table info size (number of entries).

Definition at line 422 of file DynaServo.cxx.

References DYNA_ECODE_BAD_VAL, DYNA_OK, DynaCtlTblEntry_T::m_bSigned, m_comm, m_nServoId, DynaCtlTblEntry_T::m_sFmt, DynaCtlTblEntry_T::m_sName, DynaCtlTblEntry_T::m_uAddr, DynaCtlTblEntry_T::m_uMask, DynaCtlTblEntry_T::m_uSize, DynaComm::Read16(), and DynaComm::Read8().

Referenced by DynaServoMX106::Dump(), DynaServoMX12W::Dump(), DynaServoMX28::Dump(), DynaServoMX64::Dump(), DynaServoEX106P::Dump(), and DynaServoGeneric::Dump().

{
  const DynaCtlTblEntry_T  *p;

  size_t    i;
  uint_t    uVal;
  uint_t    uMask;
  int       iVal;
  int       rc;

  // table name
  printf("               %s Control Table\n", sTblName);
  printf("Address   Name                       Raw     Value\n");
  printf("-------   ----                       ---     -----\n");

  //
  // Loop through control table information and print.
  //
  for(i=0; i<uSize; ++i)
  {
    p = &tblInfo[i];

    printf("%2u (0x%02x) %-26s ", p->m_uAddr, p->m_uAddr, p->m_sName);

    //
    // Control table entry size in bytes.
    //
    switch( p->m_uSize )
    {
      case 1:
        rc = m_comm.Read8(m_nServoId, p->m_uAddr, &uVal);
        break;
      case 2:
        rc = m_comm.Read16(m_nServoId, p->m_uAddr, &uVal);
        break;
      default:
        rc = -DYNA_ECODE_BAD_VAL;
        break;
    }

    if( rc != DYNA_OK )
    {
      printf("Failed To Read\n");
      continue;
    }

    //
    // Print the raw value before masking to display the exact contents of
    // the control table entry.
    //
    switch( p->m_uSize )
    {
      case 1:
        printf("0x%02x    ", uVal);
        break;
      case 2:
      default:
        printf("0x%04x  ", uVal);
        break;
        break;
    }

    //
    // Signed entry value. Upper most mask bit is the sign.
    //
    if( p->m_bSigned )
    {
      uMask = p->m_uMask >> 1;
      iVal = (int)(uVal & uMask);
      if( uVal & ~uMask )
      {
        iVal = -iVal;
      }
    }

    //
    // Unsigned entry value.
    //
    else
    {
      iVal = (int)(uVal & p->m_uMask);
    }

    //
    // Print interpreted value.
    //
    if( p->m_sFmt != NULL )
    {
      printf(p->m_sFmt, iVal);
    }

    printf("\n");
  }
}

virtual uint_t DynaServo::GetAlarms ( ) const

inlinevirtual

Get the current servo alarms.

Returns

Alarm bits.

Definition at line 435 of file DynaServo.h.

References m_state, and DynaServoState_T::m_uAlarms.

Referenced by DynaShellCmdClearAlarms::doExec().

  {
    return m_state.m_uAlarms;
  }

virtual const DynaServoCfg_T& DynaServo::GetConfiguration ( ) const

inlinevirtual

Get servo configuration.

Returns

Reference to shadowed configuration data.

Definition at line 195 of file DynaServo.h.

References m_cfg.

  {
    return m_cfg;
  }

virtual int DynaServo::GetCurLoad ( ) const

inlinevirtual

Get the current servo load.

Returns

Current speed.

Definition at line 475 of file DynaServo.h.

References DynaServoState_T::m_nCurLoad, and m_state.

  {
    return m_state.m_nCurLoad;
  }

virtual uint_t DynaServo::GetCurPos ( ) const

inlinevirtual

Get the current servo position.

Returns

Current position.

Definition at line 445 of file DynaServo.h.

References m_state, and DynaServoState_T::m_uCurPos.

  {
    return m_state.m_uCurPos;
  }

virtual int DynaServo::GetCurSpeed ( ) const

inlinevirtual

Get the current servo speed.

Returns

Current speed.

Definition at line 455 of file DynaServo.h.

References DynaServoState_T::m_nCurSpeed, and m_state.

Referenced by DynaBgThread::WriteGoalPos().

  {
    return m_state.m_nCurSpeed;
  }

virtual uint_t DynaServo::GetCurTemp ( ) const

inlinevirtual

Get the current temperature.

Returns

Current temperature in raw units.

Definition at line 485 of file DynaServo.h.

References CvtRawTempToC(), m_state, and DynaServoState_T::m_uCurTemp.

  {
    return m_state.m_uCurTemp;
  }

virtual uint_t DynaServo::GetCurVolt ( ) const

inlinevirtual

Get the current voltage.

Returns

Current voltage in raw units.

Definition at line 504 of file DynaServo.h.

References CvtRawVoltToVolts(), m_state, and DynaServoState_T::m_uCurVolt.

  {
    return m_state.m_uCurVolt;
  }

virtual uint_t DynaServo::GetFirmwareVersion ( ) const

inlinevirtual

Get servo firmware version.

Returns

Model number.

Definition at line 135 of file DynaServo.h.

References m_cfg, and DynaServoCfg_T::m_uFwVer.

Referenced by DynaShellCmdList::Exec().

  {
    return m_cfg.m_uFwVer;
  }

virtual int DynaServo::GetGoalSpeed ( ) const

inlinevirtual

Get the goal servo speed.

Returns

Goal speed.

Definition at line 465 of file DynaServo.h.

References DynaServoState_T::m_nGoalSpeed, and m_state.

  {
    return m_state.m_nGoalSpeed;
  }

virtual const DynaServoLink_T DynaServo::GetLinkInfo ( ) const

inlinevirtual

Get linked information.

Returns

Reference to linked data.

Definition at line 256 of file DynaServo.h.

References DYNA_ID_NONE, GetServoId(), DynaServoLink_T::m_bRotReversed, DynaServo::CrossLink_T::m_bRotReversed, m_link, DynaServoLink_T::m_nServoIdMate, DynaServo::CrossLink_T::m_pServoMate, DynaServoLink_T::m_uLinkType, and DynaServo::CrossLink_T::m_uLinkType.

  {
    DynaServoLink_T link;

    link.m_uLinkType    = m_link.m_uLinkType;
    link.m_nServoIdMate = m_link.m_pServoMate != NULL?
                              m_link.m_pServoMate->GetServoId(): DYNA_ID_NONE;
    link.m_bRotReversed = m_link.m_bRotReversed;

    return link;
  }

virtual const char* DynaServo::GetModelName ( ) const

inlinevirtual

Get servo model name string.

Returns

Model name.

Definition at line 145 of file DynaServo.h.

References DynaServoSpec_T::m_sModelName, and m_spec.

Referenced by DynaChain::ChainEntryDelete(), DynaChain::ChainEntryNew(), DynaShellCmdList::Exec(), and DynaChain::LinkServos().

  {
    return m_spec.m_sModelName;
  }

virtual uint_t DynaServo::GetModelNumber ( ) const

inlinevirtual

Get servo model number.

Returns

Model number.

Definition at line 125 of file DynaServo.h.

References m_cfg, and DynaServoCfg_T::m_uModelNum.

Referenced by DynaChain::AuditLinks(), DynaChain::ChainEntryDelete(), DynaChain::ChainEntryNew(), DynaShellCmdList::Exec(), DynaShellCmdTrain::Exec(), DynaShellCmdPlay::Exec(), and DynaChain::LinkServos().

  {
    return m_cfg.m_uModelNum;
  }

int DynaServo::GetOdometer ( )

inline

Get the current virtual odometer value.

Returns

Odometer value.

Definition at line 304 of file DynaServo.h.

References DynaServoOdometer_T::m_nOdometer, DynaServoState_T::m_od, and m_state.

Referenced by DynaServoGeneric::CalcMatesGoalPos(), DynaShellCmdGetOdometer::doExec(), DynaBgThread::execPosCtl(), DynaBgThread::execTorqueCtl(), DynaVServo::getGoalDir(), DynaServoGeneric::ReadCurPos(), DynaBgThread::stopPosCtl(), and DynaBgThread::WriteGoalPos().

  {
    return m_state.m_od.m_nOdometer;
  }

int DynaServo::GetOdometerZeroPt ( )

inline

Get the virtual odometer zero point.

Returns

Servo zero point.

Definition at line 324 of file DynaServo.h.

References DynaServoOdometer_T::m_nEncZeroPt, DynaServoState_T::m_od, and m_state.

Referenced by DynaShellCmdGetOdometer::doExec().

  {
    return m_state.m_od.m_nEncZeroPt;
  }

virtual uint_t DynaServo::GetServoId ( ) const

inlinevirtual

Get servo id.

Returns

Servo id.

Definition at line 155 of file DynaServo.h.

References m_nServoId.

Referenced by DynaServoGeneric::CfgWriteAlarmShutdownMask(), DynaServoEX106P::CfgWriteDriveMode(), DynaServoGeneric::CfgWriteMaxTorqueLimit(), DynaServoGeneric::CfgWriteRotationLimits(), DynaServoGeneric::CfgWriteTemperatureLimit(), DynaServoGeneric::CfgWriteVoltageLimits(), DynaShellCmdGetPid::doExec(), DynaShellCmdGetOdometer::doExec(), DynaShellCmdCfgWriteServoMode::doExec(), DynaShellCmdReadTorqueEnable::doExec(), DynaShellCmdWriteTorqueEnable::doExec(), DynaShellCmdReadGoalPos::doExec(), DynaShellCmdReadGoalSpeed::doExec(), DynaShellCmdWriteGoalSpeed::doExec(), DynaShellCmdGetSoftTorqueTh::doExec(), DynaShellCmdReadCurPos::doExec(), DynaShellCmdReadCurSpeed::doExec(), DynaShellCmdReadDynamics::doExec(), DynaShellCmdReadHealth::doExec(), DynaShellCmdReadIsMoving::doExec(), DynaShellCmdClearAlarms::doExec(), DynaShellCmdDump::doExec(), DynaBgThread::execPosCtl(), DynaBgThread::execTorqueCtl(), GetLinkInfo(), DynaBgThread::getRegisteredServo(), DynaBgThread::monitorDynamics(), DynaBgThread::monitorHealth(), DynaBgThread::RegisterServoAgent(), DynaBgThread::stopPosCtl(), DynaChain::SyncWriteGoalPos(), DynaChain::SyncWriteGoalSpeed(), DynaServoGeneric::WriteCtlMethodCompliance(), DynaServoGeneric::WriteCtlMethodPid(), DynaServoGeneric::WriteGoalPos(), DynaServoGeneric::WriteGoalSpeed(), DynaServoGeneric::WriteLed(), DynaServoGeneric::WriteMaxTorqueLimit(), and DynaServoGeneric::WriteTorqueEnable().

  {
    return m_nServoId;
  }

virtual uint_t DynaServo::GetServoMode ( ) const

inlinevirtual

Get the servo operational mode.

Returns

Servo mode.

Definition at line 165 of file DynaServo.h.

References m_cfg, and DynaServoCfg_T::m_uServoMode.

Referenced by CalcSpeedDir(), DynaShellCmdReadGoalPos::doExec(), DynaShellCmdReadGoalSpeed::doExec(), DynaShellCmdReadCurPos::doExec(), DynaShellCmdList::Exec(), DynaBgThread::execPosCtl(), DynaBgThread::execTorqueCtl(), DynaVServo::setToleranceInTicks(), DynaServoGeneric::Stop(), DynaBgThread::stopMotion(), DynaChain::SyncMoveTo(), DynaChain::SyncWriteGoalPos(), and DynaBgThread::WriteGoalPos().

  {
    return m_cfg.m_uServoMode;
  }

virtual void DynaServo::GetSoftTorqueThresholds ( uint_t &  uOverTorqueTh, uint_t &  uClearTorqueTh  )

inlinevirtual

Get soft torque thresholds.

The thresholds are used as a hystersis to software control servo torque.

Parameters

[out]	uOverTorqueTh	High threshold where the servo is set in an over torque condition.
[out]	uClearTorqueTh	Low threshold where the servo is cleared of an over torque condition.

Definition at line 546 of file DynaServo.h.

References m_state, DynaServoState_T::m_uClearTorqueTh, and DynaServoState_T::m_uOverTorqueTh.

Referenced by DynaShellCmdGetSoftTorqueTh::doExec(), DynaBgThread::execTorqueCtl(), and DynaBgThread::monitorDynamics().

  {
   uOverTorqueTh  = m_state.m_uOverTorqueTh;
   uClearTorqueTh = m_state.m_uClearTorqueTh;
  }

virtual const DynaServoSpec_T& DynaServo::GetSpecification ( ) const

inlinevirtual

Get servo specification.

Returns

Reference to shadowed specification data.

Definition at line 185 of file DynaServo.h.

References m_spec.

Referenced by DynaShellCmdCfgWriteServoMode::doExec(), and DynaVServo::setToleranceInTicks().

  {
    return m_spec;
  }

virtual const DynaServoState_T& DynaServo::GetState ( ) const

inlinevirtual

Get servo state.

Returns

Reference to shadowed state data.

Definition at line 205 of file DynaServo.h.

References m_state.

Referenced by DynaBgThread::execDynamics().

  {
    return m_state;
  }

virtual uint_t DynaServo::Has360PosInfo ( ) const

inlinevirtual

Test if servo has 360 ° positioning information.

Returns

Returns true or false.

Definition at line 175 of file DynaServo.h.

References DynaServoSpec_T::m_bHas360Pos, and m_spec.

  {
    return m_spec.m_bHas360Pos;
  }

virtual bool DynaServo::HasAgent ( )

inlinevirtual

Tests if servo has a registered agent.

Returns

Returns true or false.

Definition at line 604 of file DynaServo.h.

References m_pAgent, Ping(), ReadBaudRate(), ReadFirmwareVersion(), ReadModelNumber(), ReadServoId(), Reset(), WriteBaudRate(), and WriteServoId().

Referenced by DynaServoGeneric::MoveAtSpeedTo(), DynaServoGeneric::MoveTo(), DynaServoGeneric::Stop(), and DynaChain::SyncMoveAtSpeedTo().

  {
    return m_pAgent != NULL? true: false;
  }

virtual bool DynaServo::HasSoftTorqueOverCond ( )

inlinevirtual

Test if servo is in a soft over torque condition.

Returns

Returns current in over torque condition.

Definition at line 568 of file DynaServo.h.

References DynaServoState_T::m_bOverTorqueCond, and m_state.

Referenced by DynaBgThread::monitorDynamics().

  {
    return m_state.m_bOverTorqueCond;
  }

void DynaServo::Init ( int  nServoId, uint_t  uModelNum, uint_t  uFwVer  )

protected

Initialize servo class instance.

Parameters

comm	Dynamixel bus communication instance.
nServoId	Servo Id.
uModelNum	Servo model number.
uFwVer	Servo firmware version.

Definition at line 406 of file DynaServo.cxx.

References m_cfg, DynaServoCfg_T::m_nServoId, m_nServoId, m_pAgent, m_pAgentArg, DynaServoSpec_T::m_sModelName, m_spec, DynaServoCfg_T::m_uFwVer, DynaServoCfg_T::m_uModelNum, newstr(), and Unlink().

Referenced by DynaServo(), DynaServoAX12::Init(), DynaServoRX64::Init(), DynaServoRX10::Init(), DynaServoRX24F::Init(), DynaServoRX28::Init(), DynaServoMX64::Init(), DynaServoMX12W::Init(), DynaServoMX28::Init(), DynaServoMX106::Init(), and DynaServoEX106P::Init().

{
  m_spec.m_sModelName = newstr("abstract class");

  m_cfg.m_uModelNum   = uModelNum;
  m_cfg.m_uFwVer      = uFwVer;
  m_cfg.m_nServoId    = nServoId;

  m_nServoId          = nServoId;   // for ease of use

  m_pAgent            = NULL;
  m_pAgentArg         = NULL;

  Unlink();
}

bool DynaServo::IsLinkedMaster ( ) const

inline

Test if this servo is a linked master.

A linked master is the master servo in a linked master-slave configuration.

Returns

Returns true if a linked master, false otherwise.

Definition at line 236 of file DynaServo.h.

References DYNA_LINK_MASTER, m_link, and DynaServo::CrossLink_T::m_uLinkType.

Referenced by DynaServoGeneric::CfgReadAlarmShutdownMask(), DynaServoEX106P::CfgReadDriveMode(), DynaServoGeneric::CfgReadMaxTorqueLimit(), DynaServoGeneric::CfgReadRotationLimits(), DynaServoGeneric::CfgReadServoMode(), DynaServoGeneric::CfgReadTemperatureLimit(), DynaServoGeneric::CfgReadVoltageLimits(), DynaServoGeneric::CfgWriteAlarmShutdownMask(), DynaServoEX106P::CfgWriteDriveMode(), DynaServoGeneric::CfgWriteMaxTorqueLimit(), DynaServoGeneric::CfgWriteRotationLimits(), DynaServoGeneric::CfgWriteTemperatureLimit(), DynaServoGeneric::CfgWriteVoltageLimits(), DynaServoGeneric::ReadCtlMethodCompliance(), DynaServoGeneric::ReadCtlMethodPid(), DynaServoGeneric::ReadCurLoad(), DynaServoGeneric::ReadCurPos(), DynaServoGeneric::ReadCurSpeed(), DynaServoGeneric::ReadGoalPos(), DynaServoGeneric::ReadGoalSpeed(), DynaServoGeneric::ReadHealth(), DynaServoGeneric::ReadIsMoving(), DynaServoGeneric::ReadLed(), DynaServoGeneric::ReadMaxTorqueLimit(), DynaServoEX106P::ReadSensedCurrent(), DynaServoGeneric::ReadTorqueEnable(), DynaServoGeneric::WriteCtlMethodCompliance(), DynaServoGeneric::WriteCtlMethodPid(), DynaServoGeneric::WriteGoalPos(), DynaServoGeneric::WriteGoalSpeed(), DynaServoGeneric::WriteLed(), DynaServoGeneric::WriteMaxTorqueLimit(), and DynaServoGeneric::WriteTorqueEnable().

  {
    return (m_link.m_uLinkType == DYNA_LINK_MASTER)? true: false;
  }

bool DynaServo::IsMaster ( ) const

inline

Test if this servo is a master.

A master is either the master servo in a linked master-slave configuration, or an unlinked servo (a master unto thyself).

Returns

Returns true if a master, false otherwise.

Definition at line 223 of file DynaServo.h.

References DYNA_LINK_MASTER, DYNA_LINK_NONE, m_link, and DynaServo::CrossLink_T::m_uLinkType.

Referenced by DynaShellCmd::ChkChainIsMasterServo().

  {
    return ((m_link.m_uLinkType == DYNA_LINK_NONE) || 
            (m_link.m_uLinkType == DYNA_LINK_MASTER))? true: false;
  }

int DynaServo::IsOdometerEnabled ( )

inline

Test if virtual odometer mapping is enabled.

Returns

Returns true or false.

Definition at line 314 of file DynaServo.h.

References DynaServoOdometer_T::m_bOdEnabled, DynaServoState_T::m_od, and m_state.

  {
    return m_state.m_od.m_bOdEnabled;
  }

bool DynaServo::IsOdometerReversed ( )

inline

Test if the virtual odometer is reversed.

Returns

Returns true if reversed, false otherwise.

Definition at line 334 of file DynaServo.h.

References DynaServoOdometer_T::m_nOdDir, DynaServoState_T::m_od, and m_state.

Referenced by DynaShellCmdGetOdometer::doExec(), DynaVServo::getGoalDir(), and DynaBgThread::WriteGoalPos().

  {
    return m_state.m_od.m_nOdDir == -1? true: false;
  }

bool DynaServo::IsUnlinked ( ) const

inline

Test if this servo is unlinked.

Returns

Returns true if unlinked, false otherwise.

Definition at line 246 of file DynaServo.h.

References DYNA_LINK_NONE, m_link, and DynaServo::CrossLink_T::m_uLinkType.

  {
    return (m_link.m_uLinkType == DYNA_LINK_NONE)? true: false;
  }

virtual void DynaServo::Link ( uint_t  uLinkType, DynaServo *  pServoMate, bool  bRotReversed  )

inlinevirtual

Link this servo to another.

Parameters

uLinkType	This servo's linked type. See Dynamixel Servo Link Types.
pServoMate	This servo's linked mate.
bRotReversed	The linked servos do [not] rotate in opposite directions.

Definition at line 277 of file DynaServo.h.

References DynaServo::CrossLink_T::m_bRotReversed, m_link, DynaServo::CrossLink_T::m_pServoMate, and DynaServo::CrossLink_T::m_uLinkType.

Referenced by DynaChain::AuditLinks(), and DynaChain::LinkServos().

  {
    m_link.m_uLinkType    = uLinkType;
    m_link.m_pServoMate   = pServoMate;
    m_link.m_bRotReversed = bRotReversed;
  }

DynaServo * DynaServo::New ( DynaComm &  comm, int  nServoId  )

static

Archetype constructor to create a new Dynamixel servo instance.

The specific DynaServo object created depends on both the servo's model number and firmware version stored in the servo's EEPROM.

Parameters

comm	Dynamixel bus communication instance.
nServoId	Servo id.

Returns

On succes, returns pointer to the allocated DynaServo derived object.
On failure, NULL is returned.

Todo:

TODO Add checks here, if object not errored (or exception thrown). If error, delete object and return null.

Definition at line 102 of file DynaServo.cxx.

References DYNA_LOG_ERROR, DynaServoGeneric::DYNA_MODEL_NUM, DynaServoMX12W::DYNA_MODEL_NUM, DynaServoRX28::DYNA_MODEL_NUM, DynaServoMX106::DYNA_MODEL_NUM, DynaServoRX10::DYNA_MODEL_NUM, DynaServoRX24F::DYNA_MODEL_NUM, DynaServoMX64::DYNA_MODEL_NUM, DynaServoMX28::DYNA_MODEL_NUM, DynaServoRX64::DYNA_MODEL_NUM, DynaServoEX106P::DYNA_MODEL_NUM, ReadFirmwareVersion(), and ReadModelNumber().

Referenced by DynaChain::ChainEntryNew(), and DynaServo().

{
  uint_t      uModelNum;
  uint_t      uFwVer;
  DynaServo  *pDynaServo;
  int         rc;

  // read the servo's model number
  if( (rc = ReadModelNumber(comm, nServoId, &uModelNum)) < 0 )
  {
    DYNA_LOG_ERROR(rc, "Servo %d: Failed to get the model number.", nServoId);
    return NULL;
  }

  // read the servo's firmware version
  if( (rc = ReadFirmwareVersion(comm, nServoId, &uFwVer)) < 0 )
  {
    DYNA_LOG_ERROR(rc, "Servo %d: Failed to get the firmware verions.",
        nServoId);
    return NULL;
  }

  //
  // Instantiate the specific derived DynaServo object.
  //
  switch( uModelNum )
  {
    case DynaServoAX12::DYNA_MODEL_NUM:
      pDynaServo = new DynaServoAX12(comm, nServoId, uModelNum, uFwVer);
      break;

    case DynaServoEX106P::DYNA_MODEL_NUM:
      pDynaServo = new DynaServoEX106P(comm, nServoId, uModelNum, uFwVer);
      break;

    case DynaServoMX12W::DYNA_MODEL_NUM:
      pDynaServo = new DynaServoMX12W(comm, nServoId, uModelNum, uFwVer);
      break;

    case DynaServoMX28::DYNA_MODEL_NUM:
      pDynaServo = new DynaServoMX28(comm, nServoId, uModelNum, uFwVer);
      break;

    case DynaServoMX64::DYNA_MODEL_NUM:
      pDynaServo = new DynaServoMX64(comm, nServoId, uModelNum, uFwVer);
      break;

    case DynaServoMX106::DYNA_MODEL_NUM:
      pDynaServo = new DynaServoMX106(comm, nServoId, uModelNum, uFwVer);
      break;

    case DynaServoRX10::DYNA_MODEL_NUM:
      pDynaServo = new DynaServoRX10(comm, nServoId, uModelNum, uFwVer);
      break;

    case DynaServoRX24F::DYNA_MODEL_NUM:
      pDynaServo = new DynaServoRX24F(comm, nServoId, uModelNum, uFwVer);
      break;

    case DynaServoRX28::DYNA_MODEL_NUM:
      pDynaServo = new DynaServoRX28(comm, nServoId, uModelNum, uFwVer);
      break;

    case DynaServoRX64::DYNA_MODEL_NUM:
      pDynaServo = new DynaServoRX64(comm, nServoId, uModelNum, uFwVer);
      break;

    case DynaServoGeneric::DYNA_MODEL_NUM:
    default:
      pDynaServo = new DynaServoGeneric(comm, nServoId, uModelNum, uFwVer);
      break;
  }

  /*!
   * \todo TODO Add checks here, if object not errored (or exception thrown).
   * If error, delete object and return null.
   */

  return pDynaServo;
}

int DynaServo::OdometerToEncoder ( int  nOdPos )

inline

Convert virtual odometer units to servo encoder units.

Parameters

nOdPos

Odometer position.

Returns

Encoder ticks.

Definition at line 367 of file DynaServo.h.

References imod(), DynaServoOdometer_T::m_nEncZeroPt, DynaServoOdometer_T::m_nOdDir, DynaServoState_T::m_od, m_spec, m_state, and DynaServoSpec_T::m_uRawPosModulo.

Referenced by DynaServoGeneric::CalcMatesGoalPos(), DynaChain::SyncWriteGoalPos(), and DynaServoGeneric::WriteGoalPos().

  {
    return imod(m_state.m_od.m_nEncZeroPt + nOdPos * m_state.m_od.m_nOdDir,
                m_spec.m_uRawPosModulo);
  }

bool DynaServo::Ping ( DynaComm &  comm, int  nServoId  )

static

Ping the given servo.

Parameters

comm	Dynamixel bus communication instance.
nServoId	Servo id.

Returns

Returns true if the servo responded, else false.

Definition at line 383 of file DynaServo.cxx.

References DYNA_TRY_COMM, DYNA_TRY_SERVO_ID, DynaComm::Ping(), and Ping().

Referenced by HasAgent(), and Ping().

{
  DYNA_TRY_COMM(comm);
  DYNA_TRY_SERVO_ID(nServoId);

  return comm.Ping(nServoId);
}

int DynaServo::ReadBaudRate ( DynaComm &  comm, int  nServoId, int *  pBaudRate  )

static

Read the servo's baud rate from the servo's EEPROM.

Control Table:

dyna_servo_memmap_baud_rate

Parameters

	comm	Dynamixel bus communication instance.
	nServoId	Servo id.
[out]	pBaudRate	Baud rate.

Returns

On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 327 of file DynaServo.cxx.

References DynaComm::BaudNumToRate(), DYNA_ADDR_BAUD_RATE, DYNA_LOG_ERROR, DYNA_OK, DYNA_TRY_COMM, DYNA_TRY_SERVO_ID, and DynaComm::Read8().

Referenced by HasAgent().

{
  uint_t    uBaudNum;
  int       nBaudRate;
  int       rc;

  DYNA_TRY_COMM(comm);
  DYNA_TRY_SERVO_ID(nServoId);

  rc = comm.Read8(nServoId, DYNA_ADDR_BAUD_RATE, &uBaudNum);
  
  if( rc == DYNA_OK )
  {
    // convert to baudrate
    if( (nBaudRate = comm.BaudNumToRate((int)uBaudNum)) < 0 )
    {
      rc = nBaudRate;
      DYNA_LOG_ERROR(rc, "Servo %d: Unexpected baud number %u read.",
        nServoId, uBaudNum);
    }
    else
    {
      *pBaudRate = nBaudRate;
      rc = DYNA_OK;
    }
  }

  return rc;
}

int DynaServo::ReadFirmwareVersion ( DynaComm &  comm, int  nServoId, uint_t *  pFwVer  )

static

Read the servo's firmware version from the servo's EEPROM.

Control Table:

dyna_servo_memmap_fwver

Parameters

	comm	Dynamixel bus communication instance.
	nServoId	Servo id.
[out]	pFwVer	Pointer to read servo firmware version.

Returns

On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 276 of file DynaServo.cxx.

References DYNA_ADDR_FWVER, DYNA_ADDR_FWVER_MASK, DYNA_OK, DYNA_TRY_COMM, DYNA_TRY_SERVO_ID, and DynaComm::Read8().

Referenced by HasAgent(), and New().

{
  byte_t    val = 0;
  int       rc;

  DYNA_TRY_COMM(comm);
  DYNA_TRY_SERVO_ID(nServoId);

  rc = comm.Read8(nServoId, DYNA_ADDR_FWVER, &val);

  if( rc == DYNA_OK )
  {
    *pFwVer = (uint_t)(val & DYNA_ADDR_FWVER_MASK);
  }

  return rc;
}

int DynaServo::ReadModelNumber ( DynaComm &  comm, int  nServoId, uint_t *  pModelNum  )

static

Read the servo model number from the servo's EEPROM.

Control Table:

dyna_servo_memmap_model_num

Parameters

	comm	Dynamixel bus communication instance.
	nServoId	Servo id.
[out]	pModelNum	Pointer to read servo model number.

Returns

On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 256 of file DynaServo.cxx.

References DYNA_ADDR_MODEL_NUM_LSB, DYNA_ADDR_MODEL_NUM_MASK, DYNA_OK, DYNA_TRY_COMM, DYNA_TRY_SERVO_ID, and DynaComm::Read16().

Referenced by DynaShellCmdMegaScan::Exec(), HasAgent(), and New().

{
  ushort_t  val = 0;
  int       rc;

  DYNA_TRY_COMM(comm);
  DYNA_TRY_SERVO_ID(nServoId);

  rc = comm.Read16(nServoId, DYNA_ADDR_MODEL_NUM_LSB, &val);

  if( rc == DYNA_OK )
  {
    *pModelNum = (uint_t)(val & DYNA_ADDR_MODEL_NUM_MASK);
  }

  return rc;
}

int DynaServo::ReadServoId ( DynaComm &  comm, int  nServoId, int *  pServoId  )

static

Read the servo's id from the servo's EEPROM.

Control Table:

dyna_servo_memmap_id

Parameters

	comm	Dynamixel bus communication instance.
	nServoId	Servo id.
[out]	pServoId	Pointer to read servo servo id.

Returns

On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 296 of file DynaServo.cxx.

References DYNA_ADDR_ID, DYNA_ADDR_ID_MASK, DYNA_OK, DYNA_TRY_COMM, DYNA_TRY_SERVO_ID, and DynaComm::Read8().

Referenced by HasAgent().

{
  uint_t    val = 0;
  int       rc;

  DYNA_TRY_COMM(comm);
  DYNA_TRY_SERVO_ID(nServoId);

  rc = comm.Read8(nServoId, DYNA_ADDR_ID, &val);

  if( rc == DYNA_OK )
  {
    *pServoId = (int)(val & DYNA_ADDR_ID_MASK);
  }

  return rc;
}

virtual void DynaServo::RegisterAgent ( DynaAgent_T *  pAgent, void *  pAgentArg  )

inlinevirtual

Register servo proxy agent.

Parameters

pAgent	Pointer to agent calls.
pAgentArg	Agent supplied Argument passed back to calls.

Definition at line 584 of file DynaServo.h.

References m_pAgent, and m_pAgentArg.

Referenced by DynaBgThread::RegisterChainAgent(), and DynaBgThread::RegisterServoAgent().

  {
    m_pAgent    = pAgent;
    m_pAgentArg = pAgentArg;
  }

int DynaServo::Reset ( DynaComm &  comm, int  nServoId  )

static

Reset the given servo back to default values.

Warning

All configuration data are lost.

Parameters

comm	Dynamixel bus communication instance.
nServoId	Servo id.

Definition at line 391 of file DynaServo.cxx.

References DYNA_TRY_COMM, DYNA_TRY_SERVO_ID, DynaComm::Reset(), and Reset().

Referenced by HasAgent(), and Reset().

{
  int   rc;

  DYNA_TRY_COMM(comm);
  DYNA_TRY_SERVO_ID(nServoId);

  return comm.Reset(nServoId);
}

int DynaServo::ResetOdometer ( int  nEncZeroPt, bool  bIsReverse  )

virtual

Reset the servo's virtual odometer.

The odometer mapping is enabled.

Parameters

nEncZeroPt	Zero point position in servo raw encoder position units.
bIsReverse	Do [not] reverse rotation sense.

Returns

Returns the new, odometer position [-OdModulo+1, OdModulo-1] in virtual raw position units.

Definition at line 188 of file DynaServo.cxx.

References DynaServoOdometer_T::m_bOdEnabled, DynaServoOdometer_T::m_nEncLastPos, DynaServoOdometer_T::m_nEncZeroPt, DynaServoOdometer_T::m_nOdDir, DynaServoOdometer_T::m_nOdometer, DynaServoState_T::m_od, m_state, and DynaServoState_T::m_uCurPos.

Referenced by CalcSpeedDir(), DynaShellCmdSetOdometer::Exec(), and DynaServoGeneric::SyncState().

{
  int   nEncCurPos;
  int   nOdPos;

  nEncCurPos = (int)m_state.m_uCurPos;

  m_state.m_od.m_nEncZeroPt   = nEncZeroPt;
  m_state.m_od.m_nOdDir       = bIsReverse? -1: 1;
  m_state.m_od.m_nEncLastPos  = nEncCurPos;

  nOdPos = m_state.m_od.m_nOdDir * (nEncCurPos - nEncZeroPt);

  m_state.m_od.m_bOdEnabled = true;
  m_state.m_od.m_nOdometer  = nOdPos;

  return m_state.m_od.m_nOdometer;
}

virtual void DynaServo::SetSoftTorqueOverCond ( bool  bNewCond )

inlinevirtual

Set or clear servo in soft over torque condition.

Parameters

bNewCond

Servo [not] in over torque condition.

Definition at line 558 of file DynaServo.h.

References DynaServoState_T::m_bOverTorqueCond, and m_state.

Referenced by DynaBgThread::monitorDynamics().

  {
    m_state.m_bOverTorqueCond = bNewCond;
  }

virtual void DynaServo::SetSoftTorqueThresholds ( uint_t  uOverTorqueTh, uint_t  uClearTorqueTh  )

inlinevirtual

Set soft torque thresholds.

The thresholds are used as a hystersis to software control servo torque.

Parameters

uOverTorqueTh	High threshold where the servo is set in an over torque condition.
uClearTorqueTh	Low threshold where the servo is cleared of an over torque condition.

Definition at line 528 of file DynaServo.h.

References DynaServoState_T::m_bOverTorqueCond, m_state, DynaServoState_T::m_uClearTorqueTh, and DynaServoState_T::m_uOverTorqueTh.

Referenced by DynaShellCmdSetSoftTorqueTh::Exec().

  {
    m_state.m_uOverTorqueTh   = uOverTorqueTh;
    m_state.m_uClearTorqueTh  = uClearTorqueTh;
    m_state.m_bOverTorqueCond = false;
  }

int DynaServo::UpdateOdometer ( int  nEncCurPos )

virtual

Update the odometer from the current servo position and rotation direction.

Parameters

nEncCurPos

Servo encoder current position in raw ticks.

Returns

Returns the new, odometer position [-OdModulo+1, OdModulo-1] in virtual raw position units.

Definition at line 207 of file DynaServo.cxx.

References iabs(), DynaServoOdometer_T::m_bOdEnabled, DynaServoOdometer_T::m_nEncLastPos, DynaServoOdometer_T::m_nOdDir, DynaServoOdometer_T::m_nOdometer, DynaServoState_T::m_od, m_spec, m_state, and DynaServoSpec_T::m_uRawPosMax.

Referenced by CalcSpeedDir(), and DynaServoGeneric::ReadCurPos().

{
  int   dp;       // minimum delta position
  int   nOdPos;   // new odometer position

  if( m_state.m_od.m_bOdEnabled )
  {
    dp = nEncCurPos - m_state.m_od.m_nEncLastPos;

    if( iabs(dp) > m_spec.m_uRawPosMax/2 )
    {
      if( dp > 0 )
      {
        dp = dp - (int)m_spec.m_uRawPosMax;
      }
      else  // dp < 0
      {
        dp = dp + (int)m_spec.m_uRawPosMax;
      }
    }

    nOdPos = m_state.m_od.m_nOdometer + dp * m_state.m_od.m_nOdDir;

    m_state.m_od.m_nOdometer    = nOdPos;
    m_state.m_od.m_nEncLastPos  = nEncCurPos;

  }
  else
  {
    m_state.m_od.m_nOdometer = nEncCurPos;
  }

  return m_state.m_od.m_nOdometer;
}

int DynaServo::WriteBaudRate ( DynaComm &  comm, int  nServoId, int  nNewBaudRate  )

static

Write the new baud rate to the servo's EEPROM.

Control Table:

dyna_servo_memmap_baud_rate

Parameters

comm	Dynamixel bus communication instance.
nServoId	Servo id.
nNewBaudRate	New baud rate.

Returns

On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 357 of file DynaServo.cxx.

References DynaComm::BaudRateToNum(), DYNA_ADDR_BAUD_RATE, DYNA_LOG_ERROR, DYNA_TRY_COMM, DYNA_TRY_SERVO_ID, and DynaComm::Write8().

Referenced by HasAgent().

{
  int     nBaudNum;
  int     rc;

  DYNA_TRY_COMM(comm);
  DYNA_TRY_SERVO_ID(nServoId);

  // convert to baudrate
  if( (nBaudNum = comm.BaudRateToNum(nNewBaudRate)) < 0 )
  {
    rc = nBaudNum;
    DYNA_LOG_ERROR(rc, "Servo %d: Unsupported baud rate %d.",
        nServoId, nNewBaudRate);
  }

  else
  {
    rc = comm.Write8(nServoId, DYNA_ADDR_BAUD_RATE, (uint_t)nBaudNum);
  }

  return rc;
}

int DynaServo::WriteServoId ( DynaComm &  comm, int  nServoId, int  nNewServoId  )

static

Write the new servo id to the servo's EEPROM.

Control Table:

dyna_servo_memmap_id

Parameters

comm	Dynamixel bus communication instance.
nServoId	Servo id.
nNewServoId	New servo id.

Returns

On success, DYNA_OK is returned.
On error, the appropriate < 0 negated Dynamixel Error Code is returned.

Definition at line 316 of file DynaServo.cxx.

References DYNA_ADDR_ID, DYNA_TRY_COMM, DYNA_TRY_SERVO_ID, and DynaComm::Write8().

Referenced by HasAgent().

{
  DYNA_TRY_COMM(comm);
  DYNA_TRY_SERVO_ID(nServoId);
  DYNA_TRY_SERVO_ID(nNewServoId);

  return comm.Write8(nServoId, DYNA_ADDR_ID, (uint_t)nNewServoId);
}

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The documentation for this class was generated from the following files:

• include/Dynamixel/DynaServo.h
• libDynamixel/DynaServo.cxx